CN215607347U - Exoskeleton type upper limb rehabilitation robot - Google Patents

Abstract

The utility model discloses an exoskeleton type upper limb rehabilitation robot which is provided with an elbow joint bending and stretching assembly, wherein the elbow joint bending and stretching assembly comprises a first motor, a first speed reducer, a connecting shaft, a first U-shaped base, a rotating piece and a first fixing piece; the bottom end of the first base is vertically arranged with the bottom end of the first fixing piece, and the large arm is fixed between two open ends of the first fixing piece through a binding band; the first motor is fixedly arranged at one end of the opening of the rotating part through a first speed reducer, a flange of an output shaft of the first speed reducer is fixedly arranged at one end of the opening of the first base, and the other end of the opening of the first base is rotatably connected with the other end of the opening of the rotating part through a connecting shaft; the cavity elbow joint that forms between first base and the rotating member, first motor rotate, through first reduction gear speed reduction back, drive the rotating member and rotate for first base. The utility model solves the problem of low placing comfort level of the elbow joint, and has the characteristics of high placing comfort level of the elbow joint and convenience for adduction or abduction exercise training.

Description

Exoskeleton type upper limb rehabilitation robot

Technical Field

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

Background

In modern society, the daily life and work of patients are affected by the decline of limb skills caused by aging, accidental injury, sports injury, stroke, brain injury and other factors. Compared with the traditional rehabilitation training mode, the rehabilitation robot can provide various training modes as a mechanical device capable of continuously and repeatedly performing rehabilitation training, greatly improves the initiative of a patient, and saves a large amount of manpower and time.

The shoulder joint, the elbow joint and the wrist joint are used as important joints between the upper arm and the lower arm, and the multi-degree-of-freedom exercise training is particularly important. Utility model patent CN110859731A discloses an "ectoskeleton formula upper limbs rehabilitation robot", can realize shoulder joint flexion/extension, abduction/adduction, big arm revolve the interior/revolve outward, elbow joint flexion/extension, the forearm revolve the interior/revolve outward, wrist joint flexion/extend six degrees of freedom's rehabilitation training, every degree of freedom can realize alone or the joint action. However, the rehabilitation robot has poor adaptability and flexibility to the elbow joint and low comfort level.

SUMMERY OF THE UTILITY MODEL

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

To achieve these objects and other advantages in accordance with the present invention, the present invention is implemented by the following solutions:

the embodiment of the utility model provides an exoskeleton-type upper limb rehabilitation robot which comprises a supporting mechanism, a shoulder joint movement mechanism, an elbow joint movement mechanism and a wrist joint movement mechanism, wherein the shoulder joint movement mechanism, the elbow joint movement mechanism and the wrist joint movement mechanism are sequentially and fixedly connected to the supporting mechanism; the bottom end of the first base is vertically arranged with the bottom end of the first fixing piece, and a large arm is fixed between two open ends of the first fixing piece through a binding band; the first motor output shaft is fixedly connected to the first speed reducer, the first speed reducer output shaft is fixedly installed at one end of the opening of the rotating part, a flange of the first speed reducer output shaft is fixedly installed at one end of the opening of the first base, and the other end of the opening of the first base is rotatably connected with the other end of the opening of the rotating part through the connecting shaft; the first motor rotates, and after the speed of the first motor is reduced by the first speed reducer, the rotating piece is driven to rotate relative to the first base along the axial direction of the first motor, so that the elbow joint is subjected to exercise training with one degree of freedom including horizontal internal bending or horizontal external extension.

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

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

Preferably, the apparatus further comprises a height-width adjustment mechanism including:

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

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

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

Preferably, the shoulder joint movement mechanism further comprises a shoulder joint lifting and swinging assembly, which comprises a third connecting rod, a fourth motor, a fourth speed reducer and a fourth connecting rod; the third connecting rod is vertically and fixedly mounted on the second connecting rod; the fourth motor is fixedly installed on the third connecting rod through the fourth speed reducer, the fourth connecting rod is further installed on an output shaft of the fourth speed reducer in a rotating mode, the fourth motor rotates, and after the fourth motor is decelerated through the fourth speed reducer, the fourth connecting rod is driven to rotate in the vertical direction, so that the shoulder joint is subjected to freedom degree exercise training including vertical upward lifting or vertical downward swinging.

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

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

Preferably, the wrist joint movement mechanism further comprises a wrist distance adjusting assembly including a third nut, a first bolt and a groove provided to the adjusting lever, the third nut being slidably connected to the adjusting lever, the first bolt being fitted through the third nut to the groove provided to the adjusting lever, the third nut being fixedly mounted to the adjusting lever.

Preferably, the apparatus further comprises a length adjusting mechanism, which comprises:

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

the forearm length adjusting assembly comprises a right-angle fifth connecting rod, a sixth connecting rod, a fourth adjusting screw, a fifth nut, a fourth bolt and a fourth hand wheel, wherein the vertical part of the fifth connecting rod is vertically and fixedly connected to the first connecting rod, one end of the sixth connecting rod is provided with a sliding rail and a horizontally outward connecting sheet, and the other end of the sixth connecting rod is fixedly connected to a fifth base; one end of the fourth adjusting screw is vertically fixed to the connecting sheet, the other end of the fourth adjusting screw penetrates through the fifth base and then is connected to the fourth hand wheel through the fourth bolt, the fifth nut is mounted on the fourth adjusting screw, and the horizontal part of the fifth connecting rod is fixedly connected to the fifth nut; and rotating the fourth hand wheel to drive the fourth adjusting screw rod to rotate, and driving the fifth nut, the fifth connecting rod and the first connecting rod to horizontally slide along the sliding rail together.

The utility model at least comprises the following beneficial effects:

(1) the exoskeleton-type upper limb rehabilitation robot provided by the utility model is provided with the elbow joint flexion and extension assembly which comprises the first motor, the first speed reducer, the connecting shaft, the first base, the rotating part and the first fixing part, wherein the first base, the rotating part and the first fixing part are respectively in a U shape, and no matter how the first motor rotates, the size of the cavity is correspondingly changed after the rotating part is driven to rotate relative to the first base, the elbow joint flexion and extension movement training is matched with the elbow joint flexion and extension movement training, the adjustability is strong, no constraint feeling can be caused to the elbow joint training, the elbow joint placing and training comfort level is enhanced, the mechanism is simple, and the operation is easy.

(2) The exoskeleton type upper limb rehabilitation robot provided by the utility model can realize the exercise training of two degrees of freedom of inward bending or outward extending, inward rotating or outward rotating of the elbow joint in the cavity by changing the transmission direction by adopting the reduction gearbox, and the respective degree of freedom exercise training can also be relatively independently completed.

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

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

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

FIG. 2 is an assembled view of the support mechanism of the present invention;

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

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

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

FIG. 4b is an assembled schematic view of the shoulder lift and swing assembly and the forearm length adjustment assembly of the present invention;

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

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

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

description of reference numerals:

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

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

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

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

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

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

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

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

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

90. a wrist joint flexion and extension assembly; 91. a fifth base; 92. a sixth motor; 93. a sixth speed reducer; 94. adjusting a rod; 95. a second fixing member;

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

Detailed Description

The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be constructed in specific orientations, and be operated, and thus are not to be construed as limiting the present invention, and furthermore, the terms "first", "second", and "third" are only used for descriptive purposes and are not to indicate or imply relative importance.

In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the connection may be direct, indirect or communication between two elements, wireless or wired. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

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

As shown in fig. 1 to 6, an embodiment of the present invention provides an exoskeleton-type upper limb rehabilitation robot, which comprises a support mechanism, and a shoulder joint movement mechanism, an elbow joint movement mechanism and a wrist joint movement mechanism which are fixedly connected to the support mechanism in sequence. To more clearly describe the individual degree of freedom motor training of each joint of the upper limb, the present invention is illustrated in FIG. 1 with three-dimensional coordinate-assisted directions designated X-Y-Z.

< example 1>

The preferred embodiment of the elbow joint movement mechanism is given in the embodiment of the utility model.

In a first aspect, the elbow mechanism is preferably provided with an elbow flexion and extension assembly 60. As shown in fig. 4c, the elbow joint flexion and extension assembly 60 includes a first motor 61, a first speed reducer 62, a connecting shaft 63, a first base 64, a rotating member 65 and a first fixing member 66, which are respectively U-shaped. The bottom end of the first base 64 is vertically arranged with the bottom end of the first fixing member 66, and the large arm can be fixed between the two open ends of the U-shaped first fixing member 66 through a binding band. An output shaft of the first motor 61 is fixedly connected to the first speed reducer 62, an output shaft of the first speed reducer 62 is fixedly arranged at one open end of the rotating piece 65, a flange of the output shaft of the first speed reducer 62 is fixedly arranged at one open end of the first base 64, the other open end of the first base 64 is rotatably connected with the other open end of the rotating piece 65 through the connecting shaft 63, and a cavity formed between the U-shaped first base 64 and the U-shaped rotating piece 65 is used for accommodating an elbow joint after the upper arm is fixed. To facilitate forearm fixation and elbow placement for a patient sitting on the test, the two openings of the first stationary member 66 are oriented in a horizontal direction along the X-axis, and the two openings of the U-shaped first base 64 and the U-shaped rotating member 65 are oriented in an opposite horizontal direction along the Y-axis. The first motor 61 is fixedly mounted on the first base 64 through the first reducer 62, and the output shaft of the first motor 61 is along the Z-axis direction. The first motor 61 rotates a certain angle, after being decelerated by the first decelerator 62, the rotating member 65 connected with the output shaft of the first decelerator 62 is further driven to rotate by the same angle relative to the first base 64, so as to drive the elbow joint accommodated in the cavity, which is fixed to the first fixing member 66, to perform a degree of freedom exercise training of horizontal inflexion or horizontal extension around the Z-axis. Moreover, no matter how the first motor 61 rotates, such as forward rotation or reverse rotation, acceleration or deceleration, the size of the cavity is correspondingly changed after the rotating piece 65 is driven to rotate relative to the first base 64, the cavity is matched with the internal bending or external extending motion training of the elbow joint, the adjustability is strong, no constraint feeling is caused to the elbow joint training, the comfort level of elbow joint placing and training is enhanced, and the mechanism is simple and easy to operate.

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

In the second aspect, the elbow joint is turned in the Z-axis direction for the training of the flexion or extension exercise, and if the elbow joint is further turned in or out, the turning around the Y-axis direction should be considered, and the direction needs to be changed, so as to further optimize, the present invention uses the reduction box 73 to change the transmission direction, i.e. the elbow joint mechanism is further provided with the elbow joint rotating assembly 70. As shown in fig. 5 and 6, the elbow joint rotating assembly 70 includes a second motor 71, a second reducer 72, a reduction gear 73, and a first connecting rod 74; two bevel gears 73a which are respectively and correspondingly connected to an input shaft of the reduction gearbox 73 and an output shaft of the reduction gearbox 73 are arranged in the reduction gearbox 73, and gears of the two bevel gears 73a are vertically and relatively connected in a sliding manner to change direction; the second motor 71 is fixedly connected to an input shaft of a reduction gearbox 73 through a second reducer 72, and an output shaft of the reduction gearbox 73 is fixedly connected to the bottom end of the rotating member 65.

In this embodiment, after the second motor 71 rotates any angle, and the transmission direction is changed by the speed reduction of the second reducer 72 and the reduction box 73, the first connecting rod 74 is driven to rotate the elbow joint by a corresponding angle along the direction perpendicular to the output shaft of the second motor 71, i.e. along the Y-axis direction, so as to perform a degree-of-freedom exercise including inward rotation or outward rotation on the elbow joint. The output shaft of the reduction box 73 is fixedly connected to the bottom end of the rotating part 65, so that the elbow joint in the cavity can be subjected to exercise training with two degrees of freedom of inward bending or outward stretching, inward turning or outward turning, and the exercise training with the degrees of freedom can be completed relatively independently.

In summary, the exoskeleton-type upper limb rehabilitation robot provided by the utility model can perform internal flexion or external extension, internal rotation or external rotation two-degree-of-freedom motion training on elbow joints, and the respective degree-of-freedom motion training can be relatively independent or can be sequentially related.

< example 2>

On the basis of embodiment 1, the embodiment of the present invention gives a preferred embodiment of the support mechanism 00. As shown in fig. 2, the support mechanism 00 includes a second base 01, a pillar 02, and a center of gravity adjusting assembly. The upright column 02 is vertically and fixedly mounted on the second base 01, that is, the upright column 02 is fixedly mounted along the Z-axis direction. A shoulder joint movement mechanism is also fixedly arranged on the upright column 02. The gravity center adjusting assembly comprises a dead weight rod 03 vertically and fixedly mounted on the second base 01 and a plurality of dead weight blocks 04 sleeved on the dead weight rod 03 in a matching mode. In this embodiment, the whole exoskeleton-type upper limb rehabilitation robot is fixedly mounted on a second base 01 by a shoulder joint movement mechanism through an upright column 02, and the second base 01 is used for providing support. Because whole robot is by the outside large-scale mechanism that extends of stand 02 one side, difficult to avoid causing the unstable second base 01 focus, the focus adjustment subassembly is exactly in order to adjust the focus of second base 01 in order to guarantee whole equipment stability, and the method of adjustment is the quantity of dead weight piece 04 that the automatic rod matching cup jointed on adjusting second base 01.

Further preferably, the second base 01 may further have a storage box 05 fixedly mounted thereon, and the storage box 05 may be provided in a multi-layered structure in the vertical direction to store medicines, machines, and the like necessary for rehabilitation training, thereby improving the practicability of the apparatus. As for the position relationship between the upright column 02 and the storage box 05, the upright column 02 and the storage box 05 can be respectively arranged on the second base 01, and the upright column 02 can be fixedly arranged above the storage box 05 to save space and maximize the capacity of the storage box 05. The present invention gives an example in which the pillar 02 is fixedly mounted to the top of the storage box 05 by bolts.

As a further preference, a plurality of universal wheels 06 are further provided below the second base 01, and in particular, the present invention provides an example that one universal wheel 06 is respectively installed at four corners below the second base 01, so that the exoskeleton type upper limb rehabilitation robot has mobility.

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

< example 3>

On the basis of the embodiments 1-2, the embodiment of the utility model provides a preferable implementation mode of arranging the height and width adjusting mechanism 10 to adapt to patients of different sizes from the aspects of height and width adjustment for rehabilitation.

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

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

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

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

Rotate second hand wheel 11b, it rotates to drive second regulation lead screw 14b, drive second nut 13b drives shoulder joint motion along the axial of second regulation lead screw 14b and slides, carry out the width control of X axle horizontal direction to shoulder joint motion, and fourth mounting panel 16a fixed mounting is on first nut 13a, then first nut 13a slides along Z axle direction, must drive the whole height control that carries out of width control subassembly through fourth mounting panel 16a fixed mounting, thereby realize the height completely, the arbitrary regulation of width, in order to adapt to different heights on the robot below seat, fat thin patient's recovered alignment demand.

< example 4>

On the basis of embodiments 1 to 3, preferred embodiments of the shoulder joint movement mechanism are given in the embodiments of the present invention.

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

In this embodiment, the third base 21 is horizontally fixedly attached to the support mechanism 00, that is, the third base 21 is fixedly attached in the X-Y plane direction, and the entire shoulder joint movement mechanism can be fixedly attached to the support mechanism 00. Given the example of providing the height-width adjustment mechanism 10 in embodiment 3, the third base 21 may preferably be horizontally fixedly mounted to the second nut 13b in the width adjustment assembly. In order to make the structure more compact, it is preferable that the third base 21 is provided with a first opening 25a along the X-Y horizontal plane and a first through hole 25b penetrating the modified opening along the Z-axis, so that the output shaft of the third motor 22 is fixedly mounted on the third reducer 23, after the output shaft of the third reducer 23 penetrates the first through hole 25b, the flange of the third reducer 23 is fixedly mounted on the third base 21, and it is ensured that the third reducer 23 is fixedly mounted with respect to the third base 21, and at the same time, the second connecting rod 24 is fixedly mounted on the output shaft of the third reducer 23 after being inserted into the first opening 25a, so that the third motor 22 rotates at any angle, and after being reduced by the third reducer 23, the second connecting rod 24 is driven to rotate at a corresponding angle with respect to the third base 21 along the horizontal direction, i.e., the X-Y plane, so as to perform a freedom degree motion training including horizontal adduction or horizontal abduction on the shoulder joint.

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

In this embodiment, the third connecting rod 31 may preferably be fixedly mounted vertically below one end of the second connecting rod 24 by a bolt in the Z-axis direction. In order to make the installation structure compact, the third connecting rod 31 functions as a base of the fourth motor 32, and preferably has a second opening 35a with a downward opening and a second through hole 35b penetrating through the second opening 35a along the X-axis direction, an output shaft of the fourth motor 32 is fixedly mounted on the fourth speed reducer 33, after the output shaft of the fourth speed reducer 33 extends into the second through hole 35b, the flange is fixed to the third connecting rod 31, and at the same time, the fourth connecting rod 34 extends into the second opening 35a and is fixedly mounted on the output shaft of the fourth speed reducer 33, so that the fourth motor 32 rotates at any angle, and after being decelerated by the fourth speed reducer 33, the fourth connecting rod 34 is driven to rotate at a corresponding angle relative to the third connecting rod 31 along the vertical direction of the Z-axis, so as to perform a degree-of-freedom motion training including vertical upward swinging or vertical downward swinging on the shoulder joint.

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

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

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

< example 5>

On the basis of embodiments 1-4, the embodiment of the utility model gives the preferred implementation mode of the wrist joint movement mechanism.

In a first aspect, the wrist motion mechanism preferably includes a wrist flexion-extension assembly 90. As shown in fig. 5, the wrist joint flexion and extension assembly 90 includes a fifth base 91, a sixth motor 92, a sixth speed reducer 93, an adjusting rod 94 and a second fixing member 95; the fifth base 91 is vertically and fixedly installed on the elbow joint rotating assembly 70, the sixth speed reducer 93 is fixedly installed on the fifth base 91, the output shaft of the sixth motor 92 is installed on the sixth speed reducer 93, the output shaft of the sixth speed reducer 93 is fixedly installed on the adjusting rod 94, and the flange of the sixth speed reducer 93 is fixedly installed with the second fixing piece 95 with an opening facing horizontally outwards; the small arm is fixed between the two open ends of the second fixing member 95 by a binding band.

In this embodiment, the fifth base 91 is vertically and fixedly mounted to the wrist rotation assembly 70 along the Z-axis direction, and specifically, the fifth base 91 is L-shaped, and the upper end of the L-shape is fixedly mounted to the wrist rotation assembly 70, and the bottom of the L-shape is provided with a third opening for fixedly mounting to the outside of the sixth speed reducer 93 by a bolt, thereby serving as a support seat for the sixth motor 92. An output shaft of the sixth motor 92 is fixedly mounted to the sixth speed reducer 93, and an output shaft of the sixth speed reducer 93 is fixedly mounted to the adjusting rod 94, so that after the small arm is fixed at two open ends of the second fixing member 95 through the binding band, the wrist joint is aligned to the position of the output shaft of the sixth speed reducer 93, and along with the rotation of the sixth motor 92 by any angle, after the rotation is reduced by the sixth speed reducer 93, the adjusting rod 94 is driven to rotate by a corresponding angle in a vertical plane along the output shaft of the sixth speed reducer 93, i.e., the X direction, so as to perform a degree of freedom motion training including upward bending or downward extending on the wrist joint.

In the second aspect, it is further preferred that the wrist joint movement mechanism further comprises a wrist distance adjustment assembly 100. As shown in FIG. 5, the wrist adjustment assembly 100 includes a third nut 101, a first bolt 102, and a recess provided to the adjustment rod 94, the third nut 101 being slidably coupled to the adjustment rod 94, the first bolt 102 extending through the third nut 101 to matingly fit into the recess on the adjustment rod 94, fixedly securing the third nut 101 to the adjustment rod 94. In this embodiment, after the patient fixes the forearm through the second fixing member 95, the wrist distance needs to be further determined, at this time, the groove of the third nut 101 on the adjusting rod 94 is slid to the position of the target wrist distance, and then the first bolt 102 is adjusted to fasten the position of the third nut 101, so as to ensure that the wrist distance is unchanged, and thus the purpose of adjusting the wrist distance is achieved.

In summary, the exoskeleton-type upper limb rehabilitation robot provided by the utility model can perform a degree-of-freedom motion training including upward bending or downward stretching on the wrist joint, and can also perform wrist distance adjustment according to the requirements of patients, and the upward bending or downward stretching motion training and the wrist distance adjustment can be relatively independent or can be sequentially related.

< example 6>

On the basis of the embodiments 1-5, the embodiment of the utility model provides a preferable implementation mode of arranging the length adjusting mechanism to adapt to patients with different upper limb lengths from the aspect of adjusting the lengths of the upper arm and the lower arm for rehabilitation.

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

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

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

This embodiment is used for adjusting the length of the forearm, and the forearm length adjusting means 80 should be disposed after the elbow joint movement means and before the wrist joint movement means according to the structural sequence characteristics of the upper limb, so that the vertical portion of the fifth connecting rod 81 is vertically and fixedly connected to the first connecting rod 74 of the elbow joint rotation means 70 in the Y-axis direction, and the other end of the sixth connecting rod 82 is horizontally and fixedly mounted to the fifth base 91 of the wrist joint flexion and extension means 90 in the Y-axis direction. The connecting piece 822 at one end of the sixth connecting rod 82 provides a fixed mounting support for the fourth adjusting screw 83, and the sliding rail 821 drives the first connecting piece to slide to provide axial limitation after the fourth adjusting screw 83 rotates. The process of the forearm length adjustment is divided into a fixed portion including the first connecting rod 74, the fifth connecting rod 81 and the fifth nut 84, and a moving portion including the sixth connecting rod 82, the connecting piece 822 and the fifth base 91. The fourth hand wheel 86 is rotated to drive the fourth adjusting screw 83 to rotate, and the fifth nut 84, the fifth connecting rod 81 and the first connecting rod 74 are driven to horizontally slide along the sliding rail 821, so that the adaptive adjustment of the length of the forearm is completed, and the matching degree of the rehabilitation training of the patient is improved.

In summary, the exoskeleton-type upper limb rehabilitation robot provided by the utility model can respectively perform adaptive length adjustment according to the big arm and the small arm of the patient by arranging the length adjusting mechanism comprising the big arm length adjusting component 40 and the small arm length adjusting component 80, so as to improve the matching degree of rehabilitation training of the patient.

In summary, with reference to the descriptions of the embodiments 1 to 6, the exoskeleton-type upper limb rehabilitation robot provided by the present invention can perform exercise training with three degrees of freedom including adduction or abduction, uplifting or down-swinging, and inward rotation or outward rotation on the shoulder joints of a patient, can perform exercise training with two degrees of freedom including inward flexion or outward extension, inward rotation or outward rotation on the elbow joints of the patient, and can perform exercise training with one degree of freedom including upward flexion or downward extension on the wrist joints of the patient, that is, can perform six degrees of freedom training on the shoulder, elbow, and wrist joints of the upper limbs of the patient. Furthermore, according to different stature conditions of patients with different heights and thicknesses, a height and width adjusting mechanism 10 is arranged for respectively adjusting the height and the width in an adaptive manner; according to the different lengths of the big arm and the small arm of the upper limb of the patient, a big arm length adjusting component 40 and a small arm length adjusting component 80 are arranged, and the adaptability adjustment is respectively carried out on the big arm length and the small arm length; the wrist distance adjustment assembly 100 is configured to adjust the wrist distance to facilitate wrist distance adjustment, depending on the patient's requirements for wrist distance. Furthermore, the medicine storage system is also provided with a supporting mechanism 00 with adjustable gravity center, a storage box 05 and universal wheels 06, so that the mobility and the installation stability of the system are ensured, and the medicine storage function is realized.

< example 7>

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

In the first aspect, when the patient needs rehabilitation training, the patient sits on a chair located below the exoskeleton-type upper limb rehabilitation robot on the side of the column 02 of the support mechanism 00. Firstly, the medical staff adjusts the first hand wheel 11a and the second hand wheel 11b of the height and width adjusting mechanism 10 according to the size and height of the patient, and respectively adjusts the exoskeleton-type upper limb rehabilitation robot to the position according with the stature requirement of the patient. The physician then secures the forearm to the first anchor 66 of the elbow flexion and extension assembly 60 and the forearm to the second anchor 95 of the wrist flexion and extension assembly 90, respectively, by means of the straps. Finally, the medical staff adjusts the first bolt 102 of the wrist adjustment assembly 100 to tighten the position of the third nut 101 according to the wrist requirement of the patient. Therefore, the exoskeleton type upper limb rehabilitation robot is adjusted to a comfortable position of a patient, and rehabilitation training is carried out on the patient according to at least one of six-freedom-degree motion training according to a specified path.

In a second aspect, when the patient needs to perform the hand-changing rehabilitation training, firstly, the medical care personnel can start the fourth motor 32 of the shoulder joint lifting and swinging assembly 30 to enable the fourth connecting rod 34 to move downwards by 90 degrees from the position shown in fig. 1, secondly, the medical care personnel can start the third motor 22 of the shoulder joint bending and stretching assembly 20 to enable the second connecting rod 24 to rotate rightwards by 180 degrees from the position shown in fig. 1, and finally, the medical care personnel can start the fourth motor 32 of the shoulder joint lifting and swinging assembly 30 to enable the fourth connecting rod 34 to move upwards by 90 degrees again to achieve the left-right hand-changing training.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of the utility model may be made without departing from the spirit or scope of the utility model.

Claims (10)

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

2. An exoskeleton-type upper limb rehabilitation robot as claimed in claim 1, wherein the elbow joint movement mechanism is further provided with an elbow joint rotation assembly (70) comprising a second motor (71), a second reducer (72), a reduction box (73) and a first connecting rod (74); two bevel gears (73a) which are respectively and correspondingly connected to an input shaft of the reduction gearbox (73) and an output shaft of the reduction gearbox (73) are arranged in the reduction gearbox (73), and gears of the two bevel gears (73a) are vertically and relatively connected in a sliding manner to change direction; the second motor (71) is fixedly connected to an input shaft of the reduction gearbox (73) through the second speed reducer (72), and an output shaft of the reduction gearbox (73) is fixedly connected to the bottom end of the rotating part (65); the second motor (71) rotates, the speed is reduced by the second speed reducer (72) and the transmission direction is changed by the speed reduction box (73), the first connecting rod (74) is driven to rotate along the direction vertical to the output shaft of the second motor (71) to drive the elbow joint to rotate, and therefore freedom degree exercise training including inward rotation or outward rotation is conducted on the elbow joint.

3. An exoskeleton-type upper limb rehabilitation robot as claimed in claim 1, wherein said support mechanism (00) comprises:

a second chassis (01);

the upright post (02) is vertically and fixedly arranged on the second base (01), and the shoulder joint movement mechanism is also fixedly arranged on the upright post (02); and the number of the first and second groups,

the gravity center adjusting assembly comprises a dead weight rod (03) vertically and fixedly mounted on the second base (01) and a plurality of dead weights (04) sleeved on the dead weight rod (03) in a matching mode.

4. The exoskeletal upper extremity rehabilitation robot according to claim 1, further comprising a high width adjustment mechanism (10) comprising:

the height adjusting assembly comprises a first hand wheel (11a), a first mounting plate (12a), a second mounting plate (12b), a third mounting plate (12c), a first nut (13a), a first adjusting screw rod (14a) and two first guide rods (15a), wherein the first adjusting screw rod (14a) and the two first guide rods (15a) respectively penetrate through the first nut (13 a); the first mounting plate (12a) is vertically fixedly mounted to the support mechanism (00; the upper end and the lower end of the first mounting plate (12a) are respectively provided with the second mounting plate (12b) and the third mounting plate (12c) correspondingly and horizontally, one end of the first adjusting screw rod (14a) is rotatably arranged on the second mounting plate (12b), the other end of the first adjusting screw rod (14a) penetrates through the third mounting plate (12c) and is fixedly connected to the first hand wheel (11 a); the two first guide rods (15a) are fixedly arranged between the second mounting plate (12b) and the third mounting plate (12c) and are symmetrically positioned at two sides of the first adjusting screw rod (14 a); the first hand wheel (11a) is rotated to drive the first adjusting screw rod (14a) to rotate, and the first nut (13a) is driven to slide along the axial direction of the first adjusting screw rod (14 a);

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

5. The exoskeleton upper limb rehabilitation robot as claimed in claim 2, wherein said shoulder joint kinematics comprises a shoulder flexion-extension assembly (20) comprising a third base (21), a third motor (22), a third reducer (23) and a second connecting rod (24), said third base (21) being horizontally fixed to said support mechanism (00), said second motor (71) being horizontally mounted to said second connecting rod (24) via said third reducer (23), a flange of said third reducer (23) being fixedly mounted to said third base (21); the third motor (22) rotates, and after being decelerated by the third decelerator (23), the second connecting rod (24) is driven to rotate along the horizontal direction, so that the shoulder joint is subjected to one degree of freedom exercise training including horizontal adduction or horizontal abduction.

6. The exoskeleton upper limb rehabilitation robot as claimed in claim 5, wherein said shoulder joint kinematics further comprises a shoulder joint swing assembly (30) comprising a third connecting rod (31), a fourth motor (32), a fourth reducer (33) and a fourth connecting rod (34); the third connecting rod (31) is vertically and fixedly mounted to the second connecting rod (24); the fourth motor (32) is fixedly mounted on the third connecting rod (31) through the fourth speed reducer (33), the fourth connecting rod (34) is further rotatably mounted on an output shaft of the fourth speed reducer (33), the fourth motor (32) rotates, and after being decelerated through the fourth speed reducer (33), the fourth connecting rod (34) is driven to rotate in the vertical direction, so that the shoulder joint is subjected to freedom degree motion training including vertical upward lifting or vertical downward swinging.

7. The exoskeleton upper limb rehabilitation robot as claimed in claim 6, wherein said shoulder joint kinematics further comprises a shoulder joint rotation assembly (50) comprising a fourth base (51), a fifth motor (52) and a fifth reducer (53); the fourth base (51) is vertically mounted to one end of the fourth connecting rod (34); the fifth motor (52) is fixedly arranged on the fourth base (51), and the fifth motor (52) is fixedly connected to the first base (64) through the fifth speed reducer (53); the fifth motor (52) rotates to drive the first base (64) to rotate along the horizontal direction, so that the shoulder joint can be subjected to one-degree-of-freedom exercise training comprising internal rotation or external rotation.

8. The exoskeleton upper limb rehabilitation robot as claimed in claim 7, wherein said wrist joint movement mechanism comprises a wrist joint flexion and extension assembly (90) comprising a fifth base (91), a sixth motor (92), a sixth reducer (93), an adjustment lever (94) and a second fixture (95); the fifth base (91) is vertically and fixedly installed on the elbow joint rotating assembly (70), the sixth speed reducer (93) is fixedly installed on the fifth base (91), the output shaft of the sixth motor (92) is installed on the sixth speed reducer (93), the output shaft of the sixth speed reducer (93) is fixedly installed on the adjusting rod (94), and the second fixing piece (95) with an opening facing horizontally outwards is fixedly installed on a flange of the sixth speed reducer (93); the small arm is fixed between the two open ends of the second fixing piece (95) through a binding band; the sixth motor (92) rotates, and after the speed is reduced by the sixth speed reducer (93), the adjusting rod (94) is driven to rotate in a vertical plane, so that the wrist joint is subjected to motion training with one degree of freedom including upward bending or downward stretching.

9. The exoskeletal upper limb rehabilitation robot according to claim 8, characterized in that the wrist articulation mechanism further comprises a wrist distance adjustment assembly (100) comprising a third nut (101), a first bolt (102) and a groove provided to the adjustment rod (94), the third nut (101) being slidably connected to the adjustment rod (94), the first bolt (102) being matingly mounted through the third nut (101) to the groove on the adjustment rod (94), the third nut (101) being fixedly mounted to the adjustment rod (94).

10. The exoskeletal upper extremity rehabilitation robot of claim 8, further comprising a length adjustment mechanism comprising:

the large arm length adjusting assembly (40) comprises two third guide rods (41) which are arranged in parallel, a fourth nut (42) fixedly installed on the fourth connecting rod (34), a second bolt (43), a third bolt (44), a third adjusting screw rod (45) located between the two third guide rods (41) and a third hand wheel (46), one end of each third guide rod (41) is fixedly installed on the fourth connecting rod (34), the other end of each third guide rod (41) penetrates through the fourth base (51) in a sliding mode and then is provided with the second bolt (43), one end of each third adjusting screw rod (45) is rotatably connected to the fourth nut (42), and the other end of each third adjusting screw rod (45) penetrates through the fourth base (51) in a sliding mode and then is provided with the third bolt (44) and the third hand wheel (46) in sequence; the third hand wheel (46) is rotated to drive the third adjusting screw rod (45) to rotate, and the fourth base (51) is driven to slide along the length direction of the guide rod;

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

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