CN116059079B

CN116059079B - Upper limb rehabilitation exoskeleton

Info

Publication number: CN116059079B
Application number: CN202211686451.6A
Authority: CN
Inventors: 谢龙汉; 黄双远; 陈彦; 黄国威
Original assignee: Lizhi Medical Technology Guangzhou Co ltd
Current assignee: Lizhi Medical Technology Guangzhou Co ltd
Priority date: 2022-12-27
Filing date: 2022-12-27
Publication date: 2024-06-21
Anticipated expiration: 2042-12-27
Also published as: CN116059079A

Abstract

The invention discloses an exoskeleton for upper limb rehabilitation. The robot comprises a shoulder third joint module, a shoulder second joint module, a shoulder first joint module, an elbow module, a wrist module, an adjusting module and an upper arm connecting module. The adjusting module can adjust the sizes of the upper arm and the forearm part, so that the device can be better suitable for different patients; the wrist module, the elbow module and the shoulder three joint modules are driven to perform total five motors, so that the upper limb of the human body is driven to perform rehabilitation training movement; the force moment sensors of the shoulder module, the shoulder module and the elbow module can be used for acquiring man-machine interaction force, so that effective active training and passive training are realized; the elbow joint centering condition is adaptively adjusted through the adjusting module, so that the safety and the comfort of rehabilitation exercise are ensured, and the rehabilitation efficiency is improved. The invention can realize the rehabilitation exercise of the elbow and the forearm of the upper limb, reduce the working strength of rehabilitation doctors and improve the working efficiency.

Description

Upper limb rehabilitation exoskeleton

Technical Field

The invention relates to the field of rehabilitation medical appliances, in particular to an upper limb rehabilitation exoskeleton.

Background

At present, a series of problems exist in rehabilitation training of upper limbs of hemiplegic patients, and at present, the main method in China is to assist patients to train one by one through rehabilitation therapists, but the problems exist, such as high working strength and low efficiency, most rehabilitation processes are too dependent on experience judgment of the rehabilitation therapists, and better quantitative evaluation cannot be carried out; the existing upper limb rehabilitation robot has the defect of insufficient movement range in the aspect of design (patent upper limb rehabilitation training robot (authorized bulletin number: CN 208492618U) "). Therefore, there is a need for a rehabilitation device that can replace the work of a rehabilitation therapist, assist a patient in performing rehabilitation exercises of shoulder joints, elbow joints, and forearms, and improve the participation feeling and the corresponding treatment effect of the rehabilitation exercises of the patient.

Disclosure of Invention

Aiming at the problems, the upper limb rehabilitation exoskeleton is provided, and aims to effectively reduce the cost, reduce the working strength of rehabilitation therapists and improve the corresponding working efficiency, thereby ensuring the reliability of equipment. The invention provides driving force required by each joint movement through the distributed motor, and drags or assists the shoulder, elbow and forearm of the patient to finish rehabilitation training.

The object of the invention is achieved by at least one of the following technical solutions.

An upper limb rehabilitation exoskeleton comprises a wrist module, an elbow module, an adjusting module, a shoulder first joint module, a shoulder second joint module, a shoulder third joint module, an upper arm connecting module and a power-off locking module;

compared with the prior art, the invention has the advantages that:

the invention can replace the work of a rehabilitation therapist, assist the patient to carry out accurate rehabilitation training of the elbow and the forearm, effectively assist the work which cannot be completed by the patient in life, increase the self-confidence of the patient to life in the rehabilitation process and be beneficial to improving the rehabilitation effect; the forearm adjusting mechanism can adaptively adjust the misalignment of the elbow, thereby being beneficial to improving the comfort and the rehabilitation safety of patients.

The shoulder third joint module comprises a bearing mechanism arranged on the support frame and a shoulder third joint driving mechanism arranged on the bearing mechanism, wherein the shoulder third joint driving mechanism is used for providing torsional driving force of the shoulder third joint and comprises an internal transmission shaft, and the bearing mechanism is arranged on the support frame and bears the weight and the overturning moment of the machine body;

the shoulder second joint module comprises a strengthening support mechanism and a shoulder second joint driving mechanism arranged on the strengthening support mechanism, the strengthening support mechanism is connected with an internal transmission shaft of the third driving mechanism, sufficient strength and rigidity are ensured to be connected with the shoulder second joint module and the shoulder third joint module, and the shoulder second joint driving mechanism provides torsional driving force of the shoulder second joint;

The power-off locking module comprises a telescopic mechanism and a shoulder bearing bolt mechanism, wherein the telescopic mechanism is arranged on the bearing mechanism, the telescopic mechanism comprises a telescopic bolt, the telescopic bolt can be inserted into the shoulder bearing bolt mechanism to lock the rotation of a third joint of the shoulder (a linear motor is extended before power off, the bolt is inserted into the shoulder bearing bolt mechanism to lock the rotation of the third joint of the exoskeleton), the shoulder bearing bolt mechanism is arranged on the reinforced supporting mechanism, and is contacted with the bearing mechanism through the bearing to enable the bearing mechanism to be inserted and pulled out smoothly, and the rotation of the third joint of the shoulder is locked after the bearing is inserted;

The shoulder first joint module comprises a high-strength connecting mechanism and a shoulder first joint driving mechanism which is arranged on the high-strength connecting mechanism and is used for providing the torsional driving force of the shoulder first joint and providing the torsional driving force of the shoulder first joint, and the high-strength connecting mechanism is arranged on the output end of the shoulder second joint driving mechanism, so that the connection of the shoulder first joint module to the shoulder second joint module is ensured to have enough strength and rigidity;

the adjusting module comprises an upper arm length adjusting mechanism and a forearm adjusting mechanism, and the upper arm length adjusting mechanism is arranged at the output end of the shoulder first joint driving mechanism and is used for adjusting the length of an upper arm part to adapt to different patients;

The upper arm connecting module is connected with the upper arm length adjusting mechanism and is used for fixing the exoskeleton upper arm and the human upper arm;

The elbow module is arranged at the end part of the upper arm length adjusting mechanism and is used for providing elbow joint torsion driving force;

the forearm adjusting mechanism is arranged on the output end of the elbow module and is used for adjusting the length of a forearm part, adapting to different patients and self-adapting to the misalignment of the elbow (the low-resistance sliding is realized through the rolling contact of the bearing and the polishing surface, so that the self-adapting to the misalignment of the elbow can be realized);

The wrist module comprises a wrist driving mechanism and a wrist connecting mechanism, wherein the wrist driving mechanism is arranged on the forearm length adjusting mechanism (a driving motor provides wrist joint internal and external rotation driving force through gear transmission) and is used for providing wrist joint internal and external rotation driving force, and the wrist connecting mechanism is arranged on the wrist driving mechanism and is connected by a patient holding a handle.

Further, the bearing mechanism comprises a rear fixed base, a front side bearing cover and a thrust ball bearing; the thrust ball bearing is embedded into the annular boss of the front side bearing cover for fixing and is pressed by the reinforced supporting mechanism to bear the counter torque of the upper limb exoskeleton body, and the front side bearing cover is connected with the rear fixing base to bear the gravity and the counter torque;

Further, the shoulder third joint driving mechanism comprises a shoulder third joint motor, a shoulder third joint torque sensor motor connecting piece, a shoulder third joint torque sensor, a shoulder third bearing inner side cover, a shoulder third joint bearing I, a shoulder third joint bearing II and an internal transmission shaft; the shoulder third joint motor is connected with the third torque sensor through a third torque sensor motor connecting piece, transmits driving torque and can measure externally input torque; the protruding part of the motor connecting piece of the third torque sensor provides a wiring space for the third torque sensor; the third torque sensor is connected with the internal transmission shaft through a third bearing inner side cover and outputs driving torque to the outside; the inner transmission shaft is sleeved into the shoulder third joint bearing and the shoulder third joint bearing simultaneously, and then the bearings are sleeved into the front side bearing cover to conduct the weight of the machine body to the front side bearing cover for bearing, and meanwhile smooth rotation is guaranteed; the internal transmission shaft outputs driving moment through the thrust ball bearing;

Further, the telescopic mechanism comprises a bolt linear motor connecting piece, a bolt linear motor, a telescopic bolt and a fixing bolt; the bolt linear motor is installed and fixed with the rear fixing mechanism through a bolt linear motor connecting piece, a boss below the bolt linear motor is embedded into a groove of the rear fixing base and is fixed through a fixing bolt, and the front bearing cover is connected with the rear fixing base through the fixing bolt; the bolt is fixed through a round hole of an output shaft of the bolt linear motor, and is driven to stretch and retract through the bolt linear motor;

Further, the strengthening support mechanism comprises a third shoulder joint connecting piece, an inner side strengthening piece, a support strengthening piece, a left side bending connecting piece, a right side bending connecting piece, a middle bending connecting piece, a second shoulder joint outer ring, a lower side strengthening piece and an upper side strengthening piece; the shoulder third joint connecting piece is connected with the internal transmission shaft and is clung to the thrust ball bearing, the shoulder second joint module is connected with the shoulder third joint module, and the shoulder third joint connecting piece receives driving moment input and transmits counter torque of the engine body to the thrust ball bearing; the inner reinforcement piece is arranged on the front side of the shoulder third joint connector to bear moment, so that the strength and rigidity of the inner reinforcement piece are reinforced; the left side bending connecting piece, the right side bending connecting piece and the middle bending connecting piece are arranged on the third joint connecting piece of the shoulder and then are connected with the outer ring of the second joint of the shoulder, so that modularized bending connection is realized; the lower reinforcing piece and the upper reinforcing piece are respectively connected with the upper side and the lower side of the second joint outer ring to reinforce the connection strength and the rigidity; the support reinforcement is in reinforced connection with the lower reinforcement and the inner carbon fiber and is used for supporting the torque generated by the machine body and increasing the strength and the rigidity of the bending connection;

Further, the shoulder bearing bolt mechanism comprises a bolt base, a base fixing bolt, a bolt bearing and a bolt bearing fixing bolt; the bolt base is provided with a middle bending connecting piece through two base fixing bolts, and the middle bending connecting piece and the shoulder third joint connecting piece are also fixed by the base fixing bolts; the four bolt bearings are arranged in the bolt base through two bolt bolts, and the bolts can be smoothly plugged and pulled out through being contacted with the bolt bearings under the drive of the telescopic linear motor;

Further, the shoulder second joint driving mechanism comprises a shoulder second joint motor, a shoulder second joint motor fixing piece, a shoulder second joint torque sensor-motor connecting piece, a shoulder second joint torque sensor, a shoulder second joint bearing ring, a shoulder second joint bearing and a downward receiving piece; the shoulder second joint motor is fixed with the shoulder second joint outer ring through a shoulder second joint motor fixing piece; the shoulder second joint motor is connected with the shoulder second joint torque sensor through a shoulder second joint torque sensor-motor connecting piece, plays a transition role in position conversion of the connecting hole, simultaneously transmits driving torque, and can measure externally input torque; the shoulder second joint bearing ring is fixed with the shoulder second joint torque sensor and the downward bearing piece through different holes respectively, so that the axial or radial force input through the downward bearing piece is borne by the shoulder second joint bearing ring and is not transmitted to the shoulder second joint torque sensor, and meanwhile, the driving torque is output; the second torque sensor-motor connector protruding portion provides a wiring space for the second torque sensor; the shoulder second joint bearing is sleeved into the shoulder second joint outer ring, the rear flange of the shoulder second joint bearing ring is used as an inner retainer ring of the bearing, the protruding parts of the lower reinforcing piece and the shoulder second joint motor fixing piece are used as an outer retainer ring of the bearing, the shoulder second joint outer ring and the downward bearing piece are used as an outer retainer ring of the bearing, and axial and radial pressure is transmitted to the shoulder second joint outer ring through the shoulder second joint bearing while rotation is ensured;

further, the high-strength connecting mechanism comprises a first connecting plate, a second connecting plate, a mortise and tenon reinforcing plate, a mortise and tenon connecting bolt and a mortise and tenon connecting nut; the protruding parts of the mortise-tenon reinforcing plates are inserted into the square grooves of the first connecting plate and the second connecting plate, and then the mortise-tenon connecting nuts are placed in the grooving positions of the mortise-tenon reinforcing plates, so that the mortise-tenon connecting bolts are used for locking, and the stability of mortise-tenon connection is ensured; the first connecting plate, the second connecting plate and the downward bearing piece are fixed, and the shoulder first joint module is fixedly connected with the shoulder second joint;

Further, the upper limb rehabilitation exoskeleton is characterized in that: the shoulder first joint driving mechanism comprises a shoulder first joint motor, a shoulder first joint motor fixing piece, a shoulder first joint outer ring, a shoulder first joint torque sensor-motor connecting piece, a shoulder first joint torque sensor and a shoulder first joint bearing ring; a shoulder first knuckle bearing, an upward connection; the upward connecting piece is fixedly connected with the first connecting plate and the second connecting plate; the shoulder first joint bearing ring is fixed with the upward connecting piece and is fixed with the shoulder first torque sensor through different through holes, so that the axial or radial force input through the upward connecting piece is born by the shoulder first joint bearing ring and is not transmitted to the shoulder first joint torque sensor, and meanwhile, the driving torque is output; the shoulder first torque sensor-motor connecting piece is fixed with the shoulder first joint motor and the shoulder first joint torque sensor, plays a transition role in position conversion of the connecting hole, transmits driving torque, and can measure externally input torque; the first torque sensor-motor connector protruding portion provides a wiring space for the first torque sensor; the shoulder first joint motor is fixed with a shoulder first joint motor fixing piece, the shoulder first joint fixing piece is arranged on a shoulder first joint outer ring, and because a rotor of the shoulder first joint motor is fixed through a shoulder first joint torque sensor-motor connecting piece, a shoulder first joint torque sensor, a shoulder first joint bearing ring and an upward connecting piece, the driving torque output outwards is transmitted through the shoulder first joint outer ring, and the shoulder first joint outer ring is provided with four threaded holes for connecting with an elbow module; the shoulder first joint bearing is sleeved on the shoulder first joint bearing ring and sleeved with the shoulder first joint outer ring, the inner flange of the shoulder first joint bearing ring is used as an inner retainer ring, the protrusion of the shoulder first joint motor fixing piece is used as an inner outer retainer ring, and the shoulder first joint outer ring and the upward connecting piece are used as outer retainer rings, so that axial and radial pressure is transmitted to the shoulder first joint bearing ring through the shoulder first joint bearing while rotation is ensured;

Further, the upper arm length adjusting mechanism comprises an upper arm linear motor, an upper arm side first sliding rail, an upper arm side second sliding rail, an upper arm upper side sliding rail, an upper arm side first sliding block, an upper arm side second sliding block, an upper arm upper side sliding block, an upper side sliding block fixing piece, a linear motor reinforced connection upper half piece, a linear motor reinforced connection lower half piece, a front side linear motor connection integration, a rear side linear motor connection integration, an upper arm first connecting piece, an upper arm second connecting piece, an inner side transition piece and an elbow outer ring; two ends of the upper arm linear motor are respectively fixed with the elbow outer ring and the shoulder first joint outer ring, and the length of the upper arm is controlled; the upper arm first connecting piece is fixed with the upper arm second connecting piece and the shoulder first joint outer ring and is respectively connected with the upper arm side first sliding block and the upper arm side second sliding block; the upper arm supporting tube is arranged on the elbow outer ring, and the first sliding rail on the side face of the upper arm, the second sliding rail on the side face of the upper arm and the upper sliding rail on the upper arm are respectively arranged on bosses on two sides and the upper side of the upper arm supporting tube and are respectively connected with the first sliding block on the side face of the upper arm, the second sliding block on the side face of the upper arm and the upper sliding block on the upper arm; the upper arm upper sliding block fixing piece is arranged at the protruding parts of the first upper arm connecting piece and the second upper arm connecting piece and is fixed with the upper arm upper sliding blocks, so that the three sliding blocks are relatively static, the rigidity of the upper arm upper sliding block fixing piece is increased, and meanwhile, support and guide are provided for the upper arm when the upper arm length of the upper arm linear motor is adjusted; the upper half part of the linear motor strengthening connection and the lower half part of the linear motor strengthening connection are arranged on the first connecting part of the upper arm, the outer sides of the upper half part and the lower half part of the linear motor strengthening connection are fixed through the connection integration of the front side linear motor and the connection integration of the rear side linear motor, the inner ring is combined into a circle to be contacted with the linear motor of the upper arm, two threaded holes are respectively formed in the upper side and the lower side of the inner ring, and a tightening screw can be arranged in the threaded holes to effectively fix the linear motor of the upper arm and the first connecting part of the upper arm, so that the rigidity is increased;

Further, the upper arm connecting module comprises an upper arm sleeve connecting piece, a spider buckle arm sleeve, an inner side transition piece, a left upper arm plate connecting piece and a right upper arm plate connecting piece; the spider buckle arm sleeve penetrates through the notch of the upper arm sleeve connecting piece and is tightly buckled with the upper arm of the patient; the upper arm sleeve connecting piece is arranged on the inner side transition piece, the horizontal hole is connected and transited into the vertical hole, the horizontal hole is respectively connected with the left upper arm plate connecting piece and the right upper arm plate connecting piece, the upper arm sleeve connecting piece is respectively fixed on the upper arm first connecting piece and the upper arm second connecting piece, bosses on the side surfaces of the upper arm sleeve connecting piece and the upper arm first connecting piece are tightly attached to the upper arm second connecting piece, the rotation of the normal direction of the punching surface is limited, and the rotation caused by insufficient friction force provided by bolts during stress is prevented;

Further, the elbow module comprises an elbow motor, an elbow torque sensor-motor connector, an elbow torque sensor, an elbow load ring, an elbow bearing, an elbow outside bearing cover, a forearm linear motor support and a forearm linear motor transition connector; the elbow motor is arranged on the elbow outer ring, the rotor of the elbow motor is connected with the elbow torque sensor through an elbow torque sensor-motor connecting piece, the transition function of position conversion of the connecting hole is achieved, driving torque is transmitted, and meanwhile, the torque input from the outside can be measured; the elbow bearing ring is fixed with the elbow torque sensor and the forearm linear motor support piece through different through holes respectively, so that the axial or radial force input through the forearm linear motor support piece is born by the elbow bearing ring and is not transmitted to the elbow torque sensor, and meanwhile, the driving torque is output; the elbow bearing is sleeved on the elbow bearing ring and sleeved on the elbow outer ring, the inner flange of the shoulder elbow bearing ring is used as an inner check ring, the forearm linear motor support piece and the elbow outer bearing cover are used as an outer check ring, and axial and radial pressure is transmitted to the elbow outer ring through the elbow bearing while rotation is ensured; the forearm linear motor transition connecting piece is arranged on the linear motor supporting piece and is connected with the forearm adjusting module; two bosses are machined on the outer side bearing cover of the elbow and serve as mechanical limit, so that the elbow is prevented from being damaged due to overlarge bending;

Further, the forearm adjusting mechanism comprises a forearm linear motor, a sliding smooth connecting piece, a limiting piece, an inner wrist outer ring connecting piece and an outer wrist outer ring connecting piece,

The forearm linear motor transition connecting piece is used for fixing one end of the forearm linear motor; the sliding smooth connecting piece is fixed at the other end of the forearm linear motor and stretches along with the forearm linear motor;

The locating part is fixed in the one end of inboard wrist outer lane connecting piece and outside wrist outer lane connecting piece, and the other end and the wrist actuating mechanism of inboard wrist outer lane connecting piece and outside wrist outer lane connecting piece are connected, and the smooth connecting piece of slip is located on inboard wrist outer lane connecting piece and the outside wrist outer lane connecting piece and can be in the inside slip of locating part, is provided with the bearing on the locating part.

Further, the wrist driving mechanism comprises a wrist outer ring, a wrist connecting piece, a wrist bearing, a wrist outer side bearing cover, a wrist inner side bearing cover, a pinion, a hollow large gear, a wrist motor gasket, a pinion gasket and a pinion sealing cover; the wrist outer ring is arranged on the inner wrist outer ring connecting piece and the outer wrist outer ring connecting piece, so that the wrist driving mechanism moves along with the forearm adjusting mechanism; the wrist connecting piece is sleeved into the wrist bearing, the wrist bearing is sleeved into the wrist outer ring, the wrist inner bearing cover and the wrist outer bearing cover are respectively connected with the wrist outer ring of the wrist connecting piece, and the other surface of the wrist bearing is fixed through the wrist outer ring and the wrist connecting piece flange, so that the fixing and free rotation of the relative position of the wrist connecting piece are realized; the wrist motor is arranged at the side position of the outer ring of the wrist after being lifted by a gasket of the wrist motor to be matched with the wrist motor in size, an output shaft penetrates through the outer ring of the wrist to be connected with a pinion, the pinion is lifted by the gasket of the pinion to prevent friction with the outer ring of the wrist, and the outer side of the pinion is fixed by a pinion sealing cover; the hollow large gear is connected with one side of the microprotrusion of the wrist connecting piece, so that friction with the outer ring of the wrist is prevented, the hollow large gear is meshed with the small gear, driving torque output by a wrist motor is transmitted to the axis of the forearm, and assistance is provided for internal rotation and external rotation of the forearm;

Further, the upper limb rehabilitation exoskeleton is characterized in that: the wrist connecting mechanism comprises a rear side forearm support piece, a front side forearm support piece, a grip piece, a threaded part, a knob, a grip bolt and a grip nut, wherein the rear side forearm support piece is arranged on a wrist outside bearing cover, the rear side forearm support piece and the grip bolt are used for transmitting the driving torque of a wrist motor to the forearm of a user, and meanwhile, the comfort of a patient can be improved through a larger support surface; the threaded part is inserted into the groove in the protrusion of the handle piece, the handle bolt is inserted into the groove from one side of the handle cylinder to be completely countersunk, the other side of the handle cylinder is fixed through the handle nut, the threaded part is inserted into the groove of the front arm support piece after being connected, the hole of the threaded part is aligned with the reserved hole of the front arm support piece after being completely inserted, and the threaded part can be fixed after being installed into the knob, so that the handle piece can be disassembled to switch two different rehabilitation modes that a patient holds the handle or is connected with the support piece through an additional binding belt;

Further, the upper limb rehabilitation exoskeleton comprises a bearing mechanism and a shoulder third joint driving mechanism; the power-off locking module comprises a telescopic mechanism and a shoulder bearing bolt mechanism; the shoulder second joint module comprises a strengthening support mechanism and a shoulder second joint driving mechanism; the shoulder first joint module comprises a shoulder first joint driving mechanism and a high-strength connecting mechanism; the wrist module comprises a wrist driving mechanism and a wrist connecting mechanism; the adjusting module comprises an upper arm length adjusting mechanism and a forearm adjusting mechanism; the elbow module includes an elbow module; the upper arm connecting module comprises an upper arm connecting module; the healthy side and the affected side are not limited to the left and right directions.

Compared with the prior art, the invention at least has the following beneficial effects:

(1) The adjusting module can adjust the sizes of the upper arm and the forearm part, so that the device can be better suitable for different patients; the upper limb of the human body is driven to do rehabilitation training movement by driving motors in the wrist module, the elbow module and the shoulder three joint modules; and the man-machine interaction force can be obtained through the moment sensors of the shoulder three modules and the elbow module, so that effective active training and passive training are realized.

(2) The elbow joint centering condition is adaptively adjusted through the adjusting module, so that the safety and the comfort of rehabilitation exercise are ensured, and the rehabilitation efficiency is improved.

(3) The invention can realize the rehabilitation exercise of the elbow and the forearm of the upper limb, reduce the working strength of rehabilitation doctors and improve the working efficiency.

Drawings

Fig. 1 is an overall elevation view of an upper extremity rehabilitation exoskeleton in an embodiment of the present invention.

Fig. 2 is an overall side view of an upper extremity rehabilitation exoskeleton in an embodiment of the present invention.

Fig. 3 is an overall and internal schematic view of a third joint module of a shoulder in an embodiment of the present invention, and (a) and (b) are schematic structural views from different angles.

Fig. 4 is an overall and internal schematic view of a shoulder second joint module according to an embodiment of the present invention, and (a) to (d) are schematic structural views from different angles.

FIG. 5 is a schematic diagram of a power down lockout module in an embodiment of the invention.

Fig. 6 is a schematic view of a forearm adjustment mechanism in an embodiment of the invention.

Fig. 7 is an overall and internal schematic view of a first shoulder portion articulation lock module in an embodiment of the present invention, and fig. (a) - (c) are schematic structural views from different angles.

Fig. 8 is a schematic view of an upper arm length adjusting mechanism according to an embodiment of the present invention, and (a) and (b) are schematic views of the structure at different angles.

Fig. 9 is a schematic diagram of an upper arm connection module in an embodiment of the invention.

Fig. 10 is an overall and internal schematic view of an elbow module according to an embodiment of the present invention, and (a) to (c) are schematic structural views from different angles.

Fig. 11 is a schematic diagram of the wrist module according to an embodiment of the present invention, and (a) and (b) are schematic diagrams of structures at different viewing angles.

Fig. 12 is a schematic diagram showing the separation of the wrist module according to an embodiment of the present invention, and fig. a to (c) are schematic diagrams of structures under different viewing angles.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the following detailed description of the specific embodiments of the present invention will be given by way of example with reference to the accompanying drawings, but not limited thereto.

Referring to fig. 1-12, the upper limb rehabilitation exoskeleton provided by the invention comprises a wrist module, an elbow module, an adjusting module, a shoulder first joint module, a shoulder second joint module, a shoulder third joint module, an upper arm connecting module and a power-off locking module;

The shoulder third joint module comprises a bearing mechanism and a shoulder third joint driving mechanism; the power-off locking module comprises a telescopic mechanism and a shoulder bearing bolt mechanism; the shoulder second joint module comprises a strengthening support mechanism and a shoulder second joint driving mechanism; the shoulder first joint module comprises a shoulder first joint driving mechanism and a high-strength connecting mechanism; the wrist module comprises a wrist driving mechanism and a wrist connecting mechanism; the adjusting module comprises an upper arm length adjusting mechanism and a forearm adjusting mechanism;

The bearing mechanism is arranged on the supporting frame and bears the weight of the machine body and the overturning moment;

the shoulder third joint driving mechanism provides a torsional driving force of the shoulder third joint;

the telescopic mechanism is arranged on the bearing mechanism, the linear motor is extended out before power failure, the bolt is inserted into the shoulder bearing bolt mechanism, and the third joint of the exoskeleton is locked to rotate.

The reinforced supporting mechanism is arranged on an output shaft of the shoulder third joint driving mechanism, so that the connection between the shoulder second joint module and the shoulder third joint module is ensured to have enough strength and rigidity;

The shoulder bearing bolt mechanism is arranged on the reinforced supporting mechanism, and is contacted with the reinforced supporting mechanism through a bearing, so that the reinforced supporting mechanism can be inserted and pulled out smoothly, and the rotation of the third joint of the shoulder is locked after the reinforced supporting mechanism is inserted;

The shoulder second joint driving mechanism is arranged on the reinforced supporting mechanism and provides torsional driving force for the shoulder second joint;

The high-strength connecting mechanism is arranged on an output shaft of the shoulder second joint driving mechanism, so that the connection between the shoulder first joint module and the shoulder second joint module is ensured to have enough strength and rigidity;

The shoulder first joint driving mechanism is arranged on the high-strength connecting mechanism and provides torsional driving force for the shoulder first joint;

The upper arm length adjusting mechanism is arranged at the output end of the shoulder first joint driving mechanism and is used for adjusting the length of the upper arm part and adapting to different patients;

the upper arm connecting module is arranged on the upper arm length adjusting mechanism and connected with a human body through a spider buckle to fix the upper arm part of the exoskeleton with the human body;

The elbow module is arranged on the upper arm length adjusting mechanism and provides elbow joint torsion driving force;

the forearm adjusting mechanism is arranged on the output member of the elbow module and is used for adjusting the length of the forearm portion, adapting to different patients, and simultaneously realizing low-resistance sliding through rolling contact of the bearing and the polishing surface, so that self-adapting adjustment can be carried out on misalignment of the elbow.

The wrist driving mechanism is arranged on the forearm for length adjustment, and the driving motor provides internal and external rotation driving force for the wrist joint through gear transmission;

The wrist connecting mechanism is arranged on the wrist driving mechanism, and a patient is connected by holding the handle.

In some embodiments of the invention, as shown in fig. 2 and 3, the load bearing mechanism comprises a rear fixed base 9, a front side load bearing cover 8, and a thrust ball bearing 16; the thrust ball bearing 16 is embedded into an annular boss of the front side bearing cover 8 for fixation, is pressed by the strengthening support mechanism and bears the counter moment of the upper limb exoskeleton organism, and the front side bearing cover 8 is connected with the rear fixing base 9 and bears the gravity and the counter moment.

In some embodiments of the present invention, as shown in fig. 3, the shoulder third joint driving mechanism includes a shoulder third joint motor 22, a shoulder third joint torque sensor-motor connector 21, a shoulder third joint torque sensor 20, a shoulder third bearing inner cover 19, a shoulder third joint bearing one 18-1, a shoulder third joint bearing two 18-2, and an internal transmission shaft 17; the shoulder third joint motor 22 is connected with the third torque sensor 20 through a third torque sensor-motor connector 21, transmits driving torque, and can measure externally input torque; the protruding portion of the third torque sensor-motor connection 21 provides a wiring space for the third torque sensor 20; the third torque sensor 20 is connected to the inner drive shaft 17 through a third bearing inner cover 19, and outputs the driving torque to the outside; the internal transmission shaft 17 is sleeved into the first shoulder third joint bearing 18-1 and the second shoulder third joint bearing 18-2 at the same time, and then the bearings are sleeved into the front side bearing cover 8, so that the weight of the machine body is transmitted to the front side bearing cover 8 for bearing, and the machine body can rotate smoothly; the inner drive shaft 17 outputs a drive torque through the thrust ball bearing 16.

In some embodiments of the present invention, as shown in fig. 3 and 5, the telescopic mechanism includes a latch linear motor connector 23, a latch linear motor 14, a square latch 13, and a fixing bolt 15; the bolt linear motor 14 is fixed with the bolt linear motor connecting piece 23, the lower boss is embedded into the groove of the rear fixing base 9 and is fixed through the fixing bolt 15, and the front bearing cover 8 and the rear fixing base 9 are also fixed through the fixing bolt; the square bolt 13 is fixed through a round hole on the output shaft of the bolt linear motor 14, and is driven to stretch out and draw back through the bolt linear motor 14.

In some embodiments of the present invention, as shown in fig. 1,2 and 4, the reinforcement support mechanism includes a shoulder third joint connector 34, a medial reinforcement 10, a support reinforcement 26, a left side curved connector 33, a right side curved connector 35, a middle curved connector 28, a shoulder second joint outer ring 2, a lower reinforcement 36, and an upper reinforcement 27; the shoulder third joint connecting piece 34 is connected with the internal transmission shaft 17 of the shoulder third joint driving mechanism and is clung to the thrust ball bearing 16, so that the shoulder second joint module is connected with the shoulder third joint module, receives driving moment input and transmits organism counter torque to the thrust ball bearing 16; the inner reinforcement 10 is installed on the front side of the third joint connector 34 of the shoulder to bear moment, and strength and rigidity are enhanced; the left side bending connecting piece 33, the right side bending connecting piece 35 and the middle bending connecting piece 27 are connected with the shoulder third joint connecting piece 34 and then connected with the shoulder second joint outer ring 2 to realize modularized bending connection; the lower reinforcement 36 and the upper reinforcement 27 are respectively connected to the upper and lower sides of the second joint outer ring 2 to reinforce the connection strength and rigidity; the support reinforcement 26 is connected to the lower reinforcement 36 and the inner reinforcement 10 for supporting the torque generated by the body and increasing the strength and rigidity of the bending connection.

In some embodiments of the present invention, as shown in fig. 4 and 5, the shoulder bearing latch mechanism includes a latch base 38, a base fixing bolt 39, a latch bearing 37, a latch bearing fixing bolt 40; the latch base 38 is mounted on the middle bending connector 28 through two base fixing bolts 39, and the base fixing bolts 39 fix the middle bending connector 28 and the shoulder third joint connector 34; the four bolt bearings 37 are arranged in the bolt base 38 through two bolt bolts 40, and the bolts 13 can be smoothly plugged and unplugged through being contacted with the bolt bearings 37 under the drive of the telescopic linear motor 14. The latch 13 is inserted into a square hole in the latch base 38 on the shoulder first articulation link to secure the rotational movement of the shoulder first articulation prior to actuation.

In some embodiments of the present invention, as shown in fig. 1 and 4, the shoulder second joint driving mechanism includes a shoulder second joint motor 1, a shoulder second joint motor fixture 24, a shoulder second joint torque sensor-motor connector 32, a shoulder second joint torque sensor 31, a shoulder second joint load ring 30, a shoulder second joint bearing 29, and a downward receiver 25; the shoulder second joint motor 1 is fixed with the shoulder second joint outer ring 2 through a shoulder second joint motor fixing piece 24; the shoulder second joint motor 1 is connected with the shoulder second joint torque sensor 31 through a shoulder second joint torque sensor-motor connecting piece 32, plays a transition role in position conversion of a connecting hole, simultaneously transmits driving torque, and can measure externally input torque; the second shoulder joint bearing ring 30 is fixed with the second shoulder joint torque sensor 31 and the downward receiving member 25 through different holes, so that the axial or radial force input through the downward receiving member 25 can be borne by the second shoulder joint bearing ring 30 without being transmitted to the second shoulder joint torque sensor 31, and meanwhile, the driving torque is output; the protruding portion of the second torque sensor-motor connector 32 provides a wiring space for the second torque sensor 31; the shoulder second joint bearing 29 is sleeved into the shoulder second joint outer ring 2, the rear flange of the shoulder second joint bearing ring 30 is used as an inner retainer ring of the bearing, the protruding parts of the lower reinforcing piece 36 and the shoulder second joint motor fixing piece 24 are used as an outer retainer ring of the bearing, the shoulder second joint outer ring 2 and the downward receiving piece 25 are used as outer retainer rings of the bearing, and axial and radial pressure is transmitted to the shoulder second joint outer ring 2 through the shoulder second joint bearing 29 while rotation is ensured.

In some embodiments of the present invention, as shown in fig. 7, the high-strength connection mechanism includes a first connection plate 61-1, a second connection plate 61-2, a mortise and tenon reinforcing plate 53, a mortise and tenon connection bolt 62, and a mortise and tenon connection nut 60; square grooves are formed in the opposite positions of the first connecting plate 61-1 and the second connecting plate 61-2, protrusions are arranged on the mortise-tenon joint reinforcing plates 53, protruding portions of the mortise-tenon joint reinforcing plates 53 are inserted into the square grooves of the first connecting plate 61-1 and the second connecting plate 61-2, then the mortise-tenon joint nuts 60 are placed in the grooves of the mortise-tenon joint reinforcing plates 53, and the mortise-tenon joint nuts are locked by using mortise-tenon joint bolts 62, so that stability of mortise-tenon joint is guaranteed; the first connecting plate 61-1 and the second connecting plate 61-2 are fixedly connected with the downward receiving member 25 so as to fixedly connect the shoulder first joint module with the shoulder second joint module.

In some embodiments of the present invention, the mortise-tenon joint reinforcing plate 53, the first connecting plate 61-1 and the second connecting plate 61-2 are all carbon fiber plates.

In some embodiments of the present invention, as shown in fig. 1 and 7, the shoulder first joint driving mechanism includes a shoulder first joint motor 3, a shoulder first joint motor fixing member 55, a shoulder first joint outer ring 4, a shoulder first joint torque sensor-motor connection member 59, a shoulder first joint torque sensor 58, a shoulder first joint bearing ring 57, a shoulder first joint bearing 56, and an upward connection member 54; the upward connecting piece 54 is fixedly connected with the first connecting plate 61-1 and the second connecting plate 61-2; the shoulder first joint load ring 57 is fixed to the upward link 54 while being fixed to the shoulder first torque sensor 68 through different through holes, so that the axial or radial force inputted through the upward link 54 is received by the shoulder first joint load ring 57 without being transmitted to the shoulder first joint torque sensor 58 while outputting the driving torque; the shoulder first torque sensor-motor connector 69 is fixed with the shoulder first joint motor 3 and the shoulder first joint torque sensor 58, plays a transition role in position conversion of the connecting hole, transmits driving torque, and can measure externally input torque; the protruding portion of the first torque sensor-motor connection 69 provides a wiring space for the first torque sensor 68; the shoulder first joint motor 3 is fixed with a shoulder first joint motor fixing piece 55, the shoulder first joint fixing piece 55 is arranged on the shoulder first joint outer ring 4, and the rotor of the shoulder first joint motor 3 is fixed through a shoulder first joint torque sensor-motor connecting piece 59, a shoulder first joint torque sensor 58, a shoulder first joint bearing ring 57 and an upward connecting piece 54, so that the driving torque output outwards is transmitted through the shoulder first joint outer ring 4, and the shoulder first joint outer ring 4 is provided with four threaded holes for being connected with an upper arm length adjusting mechanism; the first shoulder joint bearing 56 is sleeved on the first shoulder joint bearing ring 57 and sleeved on the first shoulder joint outer ring 4, the inner flange of the first shoulder joint bearing ring 57 is used as an inner retainer ring, the protrusion of the first shoulder joint motor fixing piece 55 is used as an inner outer retainer ring, the first shoulder joint outer ring 4 and the upward connecting piece 54 are used as outer retainer rings, and axial and radial pressure is transmitted to the first shoulder joint bearing ring 57 through the first shoulder joint bearing 56 while rotation is ensured.

The adjusting module comprises an upper arm length adjusting mechanism and a forearm adjusting mechanism.

In some embodiments of the present invention, as shown in fig. 1, 2,7 and 9, the upper arm length adjustment mechanism includes an upper arm linear motor 11, an upper arm side first slide rail 71, an upper arm side second slide rail 72, an upper arm upper slide rail 75, an upper arm side first slide block 69, an upper arm side second slide block 67, an upper arm upper slide block 63, an upper slide block fixing member 76, a linear motor reinforced connection upper half member 64, a linear motor reinforced link lower half member 70, a front side linear motor connection integration 65, a rear side linear motor connection integration 66, an upper arm first connection member 73, an upper arm second connection member 74, an inner side transition member 78, and an elbow outer ring 6; two ends of the upper arm linear motor 11 are respectively fixed with the elbow outer ring 6 and the shoulder first joint outer ring 4, and the length of the upper arm is controlled; the upper arm first connecting piece 73 and the upper arm second connecting piece 74 are fixedly connected with the shoulder first joint outer ring 4 and are respectively connected with the upper arm side first sliding block 69 and the upper arm side second sliding block 67; the upper arm support tube 68 is mounted on the elbow outer ring 6, and the upper arm side first slide rail 71, the upper arm side second slide rail 72 and the upper arm upper slide rail 75 are respectively mounted on bosses on two sides and upper side of the upper arm support tube 68 and are respectively connected with the upper arm side first slide block 69, the upper arm side second slide block 67 and the upper arm upper slide block 76; the upper slider fixing member 76 is mounted on the protruding parts of the upper arm first connecting member 73 and the upper arm second connecting member 74, and is fixed with the upper arm upper slider 63, so that the three sliders are relatively static, the rigidity of the upper slider is increased, and the upper arm is supported and guided when the upper arm length of the upper arm linear motor 11 is adjusted; the upper half piece 64 and the lower half piece 70 are installed on the first upper arm connecting piece 73, the two outer sides are fixed through the front side linear motor connecting integration 65 and the rear side linear motor connecting integration 66, the inner rings are combined into a circle to be contacted with the upper arm linear motor 11, two threaded holes are respectively formed in the upper side and the lower side of the inner rings, and the upper arm linear motor 11 and the first upper arm connecting piece 73 can be effectively fixed through tightening screws, so that the rigidity is increased.

In some of the embodiments of the present invention, as shown in fig. 9, the upper arm connection module includes an upper arm socket connector 79, an arm socket 80 (which is a spider socket), an inboard transition 78, a left upper arm plate connector 8, and a right upper arm plate connector 77; the spider buckle arm sleeve 80 passes through the notch of the upper arm sleeve connecting piece 79 and is used for being buckled with the upper arm of a patient; the upper arm sleeve connecting piece 79 is mounted on the inner side transition piece 78, the horizontal hole connection is transited into the vertical hole connection, the inner side transition piece 78 is respectively connected with the left upper arm plate connecting piece 81 and the right upper arm plate connecting piece 77, and is respectively fixed on the upper arm first connecting piece 73 and the upper arm second connecting piece 74, bosses on the sides of the upper arm sleeve connecting piece 78 and the lower arm second connecting piece 74 are tightly attached to the upper arm first connecting piece 73 and the upper arm second connecting piece 74, rotation of the normal direction of a punching surface is limited, and rotation caused by insufficient friction force provided by bolts during stress is prevented.

In some of the embodiments of the present invention, as shown in fig. 1 and 10, the elbow module includes an elbow motor 5, an elbow torque sensor-motor connection 87, an elbow torque sensor 86, an elbow load ring 85, an elbow bearing 84, an elbow outboard bearing cap 82, a forearm linear motor support 83, a forearm linear motor transition connection 88; the elbow motor 5 is arranged on the elbow outer ring 6, the rotor of the elbow motor is connected with the elbow torque sensor 86 through an elbow torque sensor-motor connecting piece 87, the transition function of the position conversion of the connecting hole is achieved, the driving torque is transmitted, and the torque input from the outside can be measured; the elbow load-bearing ring 85 is fixed with the elbow torque sensor 86 and the forearm linear motor support 83 through different through holes, so that the axial or radial force input through the forearm linear motor support 83 is borne by the elbow load-bearing ring 85 and is not transmitted to the elbow torque sensor 86, and meanwhile, the driving torque is output; the elbow bearing 84 is sleeved on the elbow bearing ring 85 and sleeved on the elbow outer ring 6, the inner flange of the shoulder elbow bearing ring 85 is used as an inner check ring, the forearm linear motor support 83 and the elbow outer bearing cover 82 are used as outer check rings, and axial and radial pressure is transmitted to the elbow outer ring 6 through the elbow bearing 84 while rotation is ensured; the forearm linear motor transition connector 88 is mounted on the linear motor support 83 for connection with a forearm adjustment mechanism; the elbow outside bearing cap 82 is machined with two bosses as mechanical stops to prevent damage caused by excessive elbow bending.

In some embodiments of the present invention, as shown in fig. 1 and 6, the forearm adjustment mechanism includes a forearm linear motor 12, a sliding smooth connection 44, a wrist load-bearing square tube 50, a medial load-bearing square tube connection 42, a lateral load-bearing square tube connection 51, a medial wrist outer ring connection 45, a lateral wrist outer ring connection 46, a micro bearing 48, a micro bearing mount 52, a micro bearing pivot bolt 49, a connection bolt 43, a connection nut 41; the forearm linear motor transition connector 88 is used for fixing one end of the forearm linear motor 12, and the forearm linear motor 12 controls the forearm size through telescoping; the sliding smooth connecting piece 44 is fixed at the other end of the forearm linear motor 12 and stretches and contracts along with the forearm linear motor 12; the micro bearing 48 takes the micro bearing rotating shaft bolt 43 as a rotating shaft and is also arranged on the micro bearing fixing piece 52 through the micro bearing rotating shaft bolt to form a sliding unit; the miniature bearing fixing piece 52 is connected into a closed rectangle through a bearing seat which is manufactured by processing four aluminum alloys through a ladder structure, is arranged on the front side and the rear side of the wrist bearing square tube 50 through four connecting bolts 43 and connecting nuts 41, and forms a sliding part by eight sliding units, so that the connecting piece 44 can slide inside, the sliding smooth connecting piece 44 is inserted in the middle, and the smooth axial sliding can be carried out when the elbow joint is not centered to generate axial force, so that the self-adaptive adjustment of the elbow misalignment is realized; the inner bearing square tube connecting piece 42 and the outer bearing square tube connecting piece 51 are fixed with the wrist bearing square tube 50 through connecting bolts and are respectively fixed with the inner wrist outer ring connecting piece 45 and the outer wrist outer ring connecting piece 46, wherein the side surface 47 of the outer wrist outer ring connecting piece is provided with a threaded hole which can be fixed, and a connecting interface of a wrist driving mechanism is provided.

In some of the embodiments of the present invention, as shown in fig. 1, 11 and 12, the wrist drive mechanism includes a wrist outer ring 7, a wrist connector 106, a wrist bearing 105, a wrist outer bearing cover 91, a wrist inner bearing cover 92, a pinion 97, a hollow large gear 89, a wrist motor 98, a wrist motor washer 101, a pinion pad 100, a pinion cover 99; the wrist outer ring 7 is installed on the inner wrist outer ring connecting piece 45 and the outer wrist outer ring connecting piece 46, so that the wrist driving mechanism moves along with the forearm adjusting mechanism; the wrist connecting piece 106 is sleeved into the wrist bearing 105, the wrist bearing 105 is sleeved into the wrist outer ring 7, the wrist inner side bearing cover 92 and the wrist outer side bearing cover 91 are respectively connected with the wrist connecting piece 106 and the wrist outer ring 7, and the other surface of the wrist bearing 105 is fixed through the flanges of the wrist outer ring 7 and the wrist connecting piece 106, so that the fixing and free rotation of the relative position of the wrist connecting piece 106 are realized; the wrist motor 98 is arranged at the side position of the wrist outer ring 7 after being lifted up by a wrist motor gasket 101 to be matched with the size, an output shaft passes through the wrist outer ring 7 and is connected with a pinion 97, the pinion 97 is lifted up by a pinion gasket 100 to prevent friction with the wrist outer ring 7, and the outer side of the pinion 97 is fixed by a pinion cover 99; the hollow large gear 89 is connected with one side of the micro-protrusion of the wrist connecting piece 106, prevents friction with the wrist outer ring 7, is meshed with the small gear 97, and transmits driving torque output by the wrist motor 98 to the axis of the forearm, so as to provide assistance for the inner rotation and the outer rotation of the forearm.

In some embodiments of the present invention, as shown in fig. 11 and 12, the wrist connection mechanism includes a rear forearm support 95, a front forearm support 93, a grip 90, a screw member 104, a knob 93, a grip bolt 103, a grip nut 102, the rear forearm support 95 being mounted on a wrist outer side bearing cover 91, both of which transmit the driving torque of the wrist motor 98 to the user's forearm finally, while a larger support surface can enhance the comfort of the patient; the threaded part 104 is inserted into a groove in the protrusion of the grip member 90, the grip bolt 103 is inserted from one side of the grip cylinder to be completely countersunk, the other side is fixed through the grip nut 102, the threaded part 104 is inserted into the groove of the front arm support member 93 after connection, the hole of the threaded part 104 is aligned with the reserved hole of the front arm support member 93 after complete insertion, and the threaded part is fixed by being installed into the knob 93, so that the grip member 90 can be detached to switch two different rehabilitation modes that a patient holds the grip or is connected with the support member through an additional binding belt.

The therapist assists the patient to finish wearing the rehabilitation robot, and the rehabilitation robot drives the arm of the patient to move. According to the preset program setting of the rehabilitation robot, the rehabilitation robot can drive the patient to complete the training action of the specific track according to the specific track, or assist force given to the arm of the patient can assist the patient to complete the rehabilitation training action.

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

Claims

1. The upper limb rehabilitation exoskeleton is characterized by comprising a wrist module, an elbow module, an adjusting module, a shoulder first joint module, a shoulder second joint module, a shoulder third joint module, an upper arm connecting module and a power-off locking module;

The shoulder first joint module comprises a high-strength connecting mechanism and a shoulder first joint driving mechanism which is arranged on the high-strength connecting mechanism and is used for providing the torsional driving force of the shoulder first joint, and the high-strength connecting mechanism is arranged on the output end of the shoulder second joint driving mechanism;

The shoulder third joint module comprises a bearing mechanism arranged on the supporting frame and a shoulder third joint driving mechanism arranged on the bearing mechanism, and the shoulder third joint driving mechanism is used for providing torsional driving force of the shoulder third joint and comprises an internal transmission shaft (17);

The shoulder second joint module comprises a reinforced supporting mechanism and a shoulder second joint driving mechanism arranged on the reinforced supporting mechanism; The strengthening support mechanism comprises a shoulder third joint connecting piece (34), an inner side strengthening piece (10), a supporting strengthening piece (26), a left side bending connecting piece (33), a right side bending connecting piece (35), a middle bending connecting piece (28), a shoulder second joint outer ring (2), a lower side strengthening piece (36) and an upper side strengthening piece (27), wherein the shoulder third joint connecting piece (34) is connected with the middle bending connecting piece (28), the shoulder third joint connecting piece (34) is connected with an inner transmission shaft (17) of the shoulder third joint driving mechanism so as to connect a shoulder second joint module with a shoulder third joint module, The inner reinforcement (10) is arranged at the front side of the shoulder third joint connecting piece (34), the left side bending connecting piece (33), the right side bending connecting piece (35) and the middle bending connecting piece (27) are arranged at the shoulder third joint connecting piece (34) and then are connected with the shoulder second joint outer ring (2) to realize modularized bending connection, the lower reinforcement (36) and the upper reinforcement (27) are respectively connected with the upper side and the lower side of the second joint outer ring (2), and the support reinforcement (26) is connected with the lower reinforcement (36) and the inner reinforcement (10); The shoulder second joint driving mechanism provides a torsional driving force of a shoulder second joint and comprises a shoulder second joint motor (1), a shoulder second joint motor fixing piece (24), a shoulder second joint torque sensor-motor connecting piece (32), a shoulder second joint torque sensor (31), a shoulder second joint bearing ring (30), a shoulder second joint bearing (29) and a downward receiving piece (25), wherein the shoulder second joint motor (1) is fixed with a shoulder second joint outer ring (2) through the shoulder second joint motor fixing piece (24); the shoulder second joint motor (1) is connected with the shoulder second joint torque sensor (31) through a shoulder second joint torque sensor-motor connector (32); The shoulder second joint bearing ring (30) is respectively fixed with the shoulder second joint torque sensor (31) and the downward bearing piece (25); the shoulder second joint outer ring (2) is sleeved with the shoulder second joint bearing (29), the rear flange of the shoulder second joint bearing ring (30) is used as an inner retainer ring of the inner side of the bearing, the lower reinforcing piece (36) and the protruding part of the shoulder second joint motor fixing piece (24) are used as an outer retainer ring of the inner side of the bearing, the shoulder second joint outer ring (2) and the downward receiving piece (25) are used as an outer retainer ring of the bearing, and axial and radial pressure is transmitted to the shoulder second joint outer ring (2) through the shoulder second joint bearing (29) while rotation is ensured; The shoulder first joint driving mechanism comprises a shoulder first joint motor (3), a shoulder first joint motor fixing piece (55), a shoulder first joint outer ring (4), a shoulder first joint torque sensor-motor connecting piece (59), a shoulder first joint torque sensor (58) and a shoulder first joint bearing ring (57); the shoulder first joint bearing (56) and the upward connecting piece (54), the upward connecting piece (54) is fixedly connected with the high-strength connecting mechanism, the shoulder first joint bearing ring (57) is fixed with the upward connecting piece (54) and is also fixed with the shoulder first torque sensor (68), the shoulder first torque sensor-motor connecting piece (69) is fixed with the shoulder first joint motor (3) and the shoulder first joint torque sensor (58), the shoulder first joint motor (3) is fixed with the shoulder first joint motor fixing piece (55), the shoulder first joint fixing piece is arranged on the shoulder first joint outer ring (4), Because the rotor of the shoulder first joint motor (3) is fixed through a shoulder first joint torque sensor-motor connecting piece (59), a shoulder first joint torque sensor (58), a shoulder first joint bearing ring (57) and an upward connecting piece (54), the shoulder first joint bearing (56) is sleeved on the shoulder first joint bearing ring (57) and sleeved on the shoulder first joint outer ring (4), the inner flange of the shoulder first joint bearing ring (57) is used as an inner side inner retainer ring, the protrusion of the shoulder first joint motor fixing piece (55) is used as an inner side outer retainer ring, and the shoulder first joint outer ring (4) and the upward connecting piece (54) are used as outer side retainer rings;

The power-off locking module comprises a telescopic mechanism and a shoulder bearing bolt mechanism, the telescopic mechanism is arranged on the bearing mechanism, the telescopic mechanism comprises a bolt linear motor (14) and a telescopic bolt (13), the bolt linear motor (14) is arranged on the bearing mechanism, the telescopic bolt (13) is connected with an output shaft of the bolt linear motor (14) to realize telescopic action through driving of the bolt linear motor (14), the telescopic bolt (13) can be inserted into the shoulder bearing bolt mechanism to lock the third joint of the shoulder to rotate, and the shoulder bearing bolt mechanism is arranged on the reinforced supporting mechanism; the shoulder bearing bolt mechanism comprises a bolt base (38) and a bolt bearing (37) arranged on the bolt base (38), the bolt base (38) is arranged on the middle bending connecting piece (28), and the telescopic bolt (13) can be inserted into the bolt base (38) through the bolt bearing (37);

the adjusting module comprises an upper arm length adjusting mechanism and a forearm adjusting mechanism, and the upper arm length adjusting machine

Is arranged on the output end of the shoulder first joint driving mechanism and is used for adjusting the length of the upper arm part to adapt to

Different patients;

the forearm adjusting mechanism is arranged on the output end of the elbow module and is used for adjusting the length of a forearm part, adapting to different patients and self-adapting to the misalignment of the elbow;

the wrist module comprises a wrist driving mechanism and a wrist connecting mechanism, wherein the wrist driving mechanism is arranged on the forearm adjusting mechanism and used for providing internal and external rotation driving force for a wrist joint, and the wrist connecting mechanism is arranged on the wrist driving mechanism;

the elbow module comprises an elbow motor (5), an elbow torque sensor-motor connection (87), an elbow

A torque sensor (86), an elbow load ring (85), an elbow bearing (84), an elbow outer side bearing cover (82), a forearm linear motor support (83), and a forearm linear motor transition connection (88);

the rotor of the elbow motor (5) is connected with an elbow torque sensor (86) through an elbow torque sensor-motor connector (87); the elbow bearing ring (85) is respectively fixed with the elbow torque sensor (86) and the forearm linear motor support (83); the elbow bearing (84) is sleeved on the elbow bearing ring (85), an inner flange of the shoulder elbow bearing ring (85) is used as an inner check ring, and the forearm linear motor support (83) and the elbow outer bearing cover (82) are used as outer check rings; the forearm linear motor transition connecting piece (88) is arranged on the linear motor supporting piece (83) and is connected with the forearm adjusting module.

2. An upper limb rehabilitation exoskeleton as claimed in claim 1, wherein: the upper arm length adjusting mechanism comprises an upper arm linear motor (11), an upper arm side first sliding rail (71), an upper arm side second sliding rail (72), an upper arm upper side sliding rail (75), an upper arm side first sliding block (69), an upper arm side second sliding block (67), an upper arm upper side sliding block (63), an upper side sliding block fixing piece (76), a linear motor strengthening connection upper half piece (64), a linear motor strengthening connection lower half piece (70), a front side linear motor connecting integration (65), a rear side linear motor connecting integration (66), an upper arm supporting tube (68), an upper arm first connecting piece (73), an upper arm second connecting piece (74), an inner side transition piece (78) and an elbow outer ring (6);

Two ends of the upper arm linear motor (11) are respectively fixed with the elbow outer ring (6) and the shoulder first joint driving mechanism; the upper arm first connecting piece (73) is connected with the upper arm second connecting piece (74) and the shoulder first joint driving mechanism and is respectively connected with the upper arm side first sliding block (69) and the upper arm side second sliding block (67); the upper arm support tube (68) is arranged on the elbow outer ring (6), and the first sliding rail (71) on the side surface of the upper arm, the second sliding rail (72) on the side surface of the upper arm and the upper sliding rail (75) on the upper arm are respectively arranged on the two side walls and the upper side of the upper arm support tube (68) and are respectively connected with the first sliding block (69) on the side surface of the upper arm, the second sliding block (67) on the side surface of the upper arm and the upper sliding block (76) on the upper arm; the upper arm upper side sliding block fixing piece (76) is arranged on the upper arm first connecting piece (73) and the upper arm second connecting piece (74) and is fixed with the upper arm upper side sliding block (63); the linear motor strengthening connection upper half piece (64) and the linear motor strengthening connection lower half piece (70) are arranged on the upper arm first connecting piece (73), the outer sides of the upper arm first connecting piece and the lower arm first connecting piece are fixed through the front side linear motor connecting integration (65) and the rear side linear motor connecting integration (66), and the inner rings are combined into a circle to be contacted with the upper arm linear motor (11).

3. An upper limb rehabilitation exoskeleton as claimed in claim 1, wherein: the upper arm connecting module comprises an upper arm sleeve connecting piece (79), an arm sleeve (80), an inner side transition piece (78), a left upper arm plate connecting piece (81) and a right upper arm plate connecting piece (77); the arm sleeve (80) passes through the notch of the upper arm sleeve connecting piece (79) and is used for being fastened with the upper arm of the patient; the upper arm sleeve connecting piece (79) is arranged on the inner side transition piece (78), the inner side transition piece (78) is respectively connected with the left upper arm plate connecting piece (81) and the right upper arm plate connecting piece (77), and the left upper arm plate connecting piece (81) and the right upper arm plate connecting piece (77) are connected with the upper arm length adjusting mechanism.

4. An upper limb rehabilitation exoskeleton as claimed in claim 1, wherein: the forearm adjusting mechanism comprises a forearm linear motor (12), a sliding smooth connecting piece (44), a limiting piece, an inner wrist outer ring connecting piece (45) and an outer wrist outer ring connecting piece (46),

The forearm linear motor transition connecting piece (88) is used for fixing one end of the forearm linear motor (12); the sliding smooth connecting piece (44) is fixed at the other end of the forearm linear motor (12) and stretches and contracts along with the forearm linear motor (12);

the limiting piece is fixed in one end of inboard wrist outer lane connecting piece (45) and outside wrist outer lane connecting piece (46), and the other end of inboard wrist outer lane connecting piece (45) and outside wrist outer lane connecting piece (46) is connected with wrist actuating mechanism, and slides smooth connecting piece (44) and be located on inboard wrist outer lane connecting piece (45) and outside wrist outer lane connecting piece (46) and can slide in the limiting piece is provided with the bearing on the limiting piece.

5. An upper limb rehabilitation exoskeleton according to any one of claims 1 to 4, wherein: the wrist driving mechanism comprises a wrist outer ring (7), a wrist connecting piece (106), a wrist bearing (105), a wrist outer side bearing cover (91), a wrist inner side bearing cover (92), a pinion (97), a hollow large gear (89), a wrist motor (98), a wrist motor gasket (101) and a pinion sealing cover (99); the wrist outer ring (7) is arranged on the inner wrist outer ring connecting piece (45) and the outer wrist outer ring connecting piece (46) so that the wrist driving mechanism moves along with the forearm adjusting mechanism; the wrist connecting piece (106) is sleeved into the wrist bearing (105), the wrist bearing (105) is sleeved into the wrist outer ring (7), the wrist inner side bearing cover (92) and the wrist outer side bearing cover (91) are respectively connected with the wrist outer ring (7) of the wrist connecting piece (106), and the other surface of the wrist bearing (105) is fixed through the wrist outer ring (7) and the flange of the wrist connecting piece (106), so that the fixing and free rotation of the relative position of the wrist connecting piece (106) are realized; the wrist motor (98) is arranged at the side position of the wrist outer ring (7) after being lifted up through a wrist motor gasket (101) to be matched with the wrist outer ring, an output shaft penetrates through the wrist outer ring (7) to be connected with a pinion (97), and the outer side of the pinion (97) is fixed by a pinion sealing cover (99); the hollow large gear (89) is connected with one side of the micro-protrusion of the wrist connecting piece (106) and meshed with the small gear (97).