CN113893131A - Rope-driven upper limb exoskeleton rehabilitation robot with shoulder joint passive tracking function - Google Patents
Rope-driven upper limb exoskeleton rehabilitation robot with shoulder joint passive tracking function Download PDFInfo
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- CN113893131A CN113893131A CN202111222461.XA CN202111222461A CN113893131A CN 113893131 A CN113893131 A CN 113893131A CN 202111222461 A CN202111222461 A CN 202111222461A CN 113893131 A CN113893131 A CN 113893131A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
- A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
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- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
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- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
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Abstract
The invention relates to the technical field of medical auxiliary treatment devices, in particular to a rope-driven upper limb exoskeleton rehabilitation robot with a shoulder joint passive tracking function, which comprises an upper limb exoskeleton rehabilitation mechanical arm, a shoulder joint passive tracking device, a rack and a driving module, wherein the upper limb exoskeleton rehabilitation mechanical arm is arranged on the shoulder joint passive tracking device, the shoulder joint passive tracking device is fixed at the upper end part of the rack, and the driving module is fixed at the lower end part of the rack; the invention has simple structure and convenient control, and can realize the forward/backward extension, outward swing/adduction and elbow joint flexion/extension of the upper limb shoulder joint; the shoulder joint passive tracking device can adjust the deviation of the human shoulder joint and the shoulder joint of the exoskeleton mechanical arm in the motion process at any time, so that the rehabilitation training process is more in line with the human kinematics rule, the pulling feeling is avoided, and the comfort is improved.
Description
Technical Field
The invention relates to the technical field of medical auxiliary treatment devices, in particular to a rope-driven upper limb exoskeleton rehabilitation robot with a shoulder joint passive tracking function.
Background
The cerebral apoplexy is the first cause of death and disability of adults in China, is the local neurological function defect of a persistent cerebral hemisphere or brain stem caused by acute cerebrovascular circulatory disturbance, and has the characteristics of high morbidity, high disability rate, high death rate and high recurrence rate. The probability of upper limb motor dysfunction of stroke survivors is higher than that of lower limbs, and the complex anatomical structure of the upper limbs makes the recovery of the stroke survivors more difficult. The traditional rehabilitation training consumes large manpower and material resources, and the treatment is one-to-one; the treatment must be carried out in special institutions such as hospitals or rehabilitation centers; the training intensity and the training effect are not easy to evaluate, and the difference between the training place and the daily life place is not beneficial to the rehabilitation of the daily life of the patient; the treatment process is boring and single, is not easy to arouse the interest of patients, and is restricted by the compliance of the patients.
The early rehabilitation training of the patients with limb dysfunction is vital to the recovery of the motor function of the patients with limb dysfunction, the upper limb rehabilitation robot has the advantages of no fatigue, quantification and individuation, can provide large-dose and high-repetition motor training on the one hand, and can provide objective and instant training data and evaluation data on the other hand, the auxiliary rehabilitation treatment of the robot becomes an effective scheme for limb function rehabilitation after stroke, and the market demand is huge. At present, an upper limb rehabilitation robot mainly comprises a tail end traction type robot and an exoskeleton type robot, the exoskeleton type rehabilitation robot can be directly worn on an affected limb to accurately control the range of motion of each joint, but most of the existing upper limb exoskeleton rehabilitation robots directly install a driving element in a motion joint, so that the structure is complex, and the control precision and the safety are not improved. Moreover, at present, the shoulder joint rotation center of most upper limb rehabilitation robots is fixed, and in the process of human upper limb movement, the shoulder joint rotation center can move, so that the human shoulder joint rotation center and the robot shoulder joint rotation center generate deviation, and the dragging feeling and even injury during training are caused, and the rehabilitation effect is influenced.
Therefore, the existing upper limb exoskeleton rehabilitation robot mainly has the following problems:
1. the rehabilitation training consumes large manpower and material resources;
2. the existing exoskeleton rehabilitation robot has a complex structure, and light weight design is not considered;
3. the shoulder joint rotation center of the existing exoskeleton rehabilitation robot is mostly fixed, the rotation center of the shoulder joint cannot be adjusted in real time in the movement process, and the requirements of rehabilitation training safety and comfort cannot be met.
Disclosure of Invention
Aiming at the problems, the invention provides a rope-driven upper limb exoskeleton rehabilitation robot with a shoulder joint passive tracking function, which adopts a shoulder joint passive tracking device to ensure that the shoulder rotation center of the robot is aligned with the shoulder rotation center of a patient, so as to meet the motion rule of the upper limbs of the human body, and further meet the requirements of the patient on safety and comfort of rehabilitation training.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a rope-driven upper limb exoskeleton rehabilitation robot with a shoulder joint passive tracking function comprises an upper limb exoskeleton rehabilitation mechanical arm, a shoulder joint passive tracking device, a rack and a driving module, wherein the upper limb exoskeleton rehabilitation mechanical arm is installed on the shoulder joint passive tracking device, the shoulder joint passive tracking device is fixed at the upper end part of the rack, and the driving module is fixed at the lower end part of the rack;
the shoulder joint passive tracking device is connected with a shoulder joint of the upper limb exoskeleton rehabilitation mechanical arm and is used for automatically compensating the deviation between the shoulder joint rotation center of the upper limb exoskeleton rehabilitation mechanical arm and the shoulder joint rotation center of the human body;
the driving module is connected with the upper limb exoskeleton rehabilitation mechanical arm through a steel wire rope, and the steel wire rope drives the upper limb exoskeleton rehabilitation mechanical arm to act so as to realize upper limb rehabilitation movement of the patient;
the upper limb exoskeleton rehabilitation mechanical arm comprises an elbow flexion/extension joint, a shoulder flexion/extension joint and an external swing/adduction shoulder joint which are sequentially connected.
By adopting the technical scheme: the upper limb exoskeleton rehabilitation mechanical arm is driven by the driving module through the steel wire rope to move, the upper limb rehabilitation motion of a patient is realized, and the shoulder joint passive tracking device automatically compensates the deviation between the shoulder joint rotation center of the upper limb exoskeleton rehabilitation mechanical arm and the shoulder joint rotation center of a human body in the shoulder joint motion process, so that the requirements of the patient on the safety and comfort of rehabilitation training can be met.
Preferably, the elbow bending/stretching joint comprises a forearm binding ring, a forearm rod, an elbow joint sensor mounting seat, an elbow joint angle sensor, an elbow joint brake pipeline clamping seat, an elbow joint brake pipeline, an elbow joint steel wire rope, an auxiliary fixing clamping plate, an elbow joint steel wire rope pressing plate, an elbow joint fixing ring, an elbow joint bearing, an upper arm rod a, an elbow joint rotating shaft, an upper arm limiting slide block, an upper arm fixing clamp and an upper arm binding ring.
The forearm rod is disc-shaped at the elbow joint, and a forearm binding ring is arranged at the front end part of the forearm rod; the elbow joint bearing is fixed on the forearm rod through a bolt, the elbow joint angle sensor is fixed on the elbow joint sensor mounting seat, and the elbow joint sensor mounting seat is connected with the forearm rod to form a forearm rotating part of an elbow joint; the elbow joint rotating shaft is fixed on the upper arm rod a through a bolt to form an upper arm rotating part of the elbow joint; the elbow joint rotating shaft and the elbow joint fixing ring limit axial movement of a forearm rotating part together, and the elbow joint rotating shaft sequentially penetrates through the upper arm rod a, the forearm rod, the elbow joint bearing, the elbow joint fixing ring and the elbow joint angle sensor; elbow joint brake pipe line holder is fixed on upper boom a, elbow joint wire rope is worn out by elbow joint brake pipe line, the disc position department of forearm pole is equipped with the boss that the diameter slightly is less than elbow joint bearing, form a draw-in groove that is used for joint elbow joint wire rope between boss and the elbow joint bearing, elbow joint wire rope is compressed tightly on the forearm pole by elbow joint wire rope clamp plate.
Preferably, the anteflexion/postflexion shoulder joint comprises an upper arm rod b, an anteflexion/postflexion shoulder joint steel wire rope pressing plate, an anteflexion/postflexion shoulder joint sensor installation seat, an anteflexion/postflexion shoulder joint angle sensor, an anteflexion/postflexion shoulder joint fixing ring, an anteflexion/postflexion shoulder joint bearing, an anteflexion/postflexion shoulder joint rotating shaft, an anteflexion/postflexion shoulder joint brake pipeline clamp seat, an anteflexion/postflexion shoulder joint brake pipeline, an anteflexion/postflexion shoulder joint steel wire rope and a shoulder joint L-shaped plate.
The upper arm rod b and the upper arm rod a are connected through an upper arm fixing clamp and an auxiliary fixing clamp plate; the upper arm limiting sliding block is arranged in a groove of the upper arm rod a, and after the upper arm rod b and the upper arm rod a are clamped by the upper arm fixing clamp, the upper arm limiting sliding block and the upper arm fixing clamp are fixed at the front end of the upper arm rod b together through a bolt and an upper arm binding ring.
The forward bending/backward extending shoulder joint rotating shaft is fixed on the shoulder joint L-shaped plate through a bolt and is a shoulder rotating part of the forward bending/backward extending shoulder joint; the anteflexion/postflexion shoulder joint bearing is fixed on the upper arm rod b through a bolt, the anteflexion/postflexion shoulder joint angle sensor is installed on an anteflexion/postflexion shoulder joint sensor installation seat, and the anteflexion/postflexion shoulder joint sensor installation seat is connected with the upper arm rod b to form an upper arm rotating part of the anteflexion/postflexion shoulder joint; the anteflexion/postflexion shoulder joint fixing ring and the step surface of the anteflexion/postflexion shoulder joint rotating shaft limit the axial movement of the rotating part of the anteflexion/postflexion shoulder joint together; the anteflexion/postextension shoulder joint rotating shaft sequentially passes through the shoulder joint L-shaped plate, the upper arm rod b, the anteflexion/postextension shoulder joint bearing, the anteflexion/postextension shoulder joint fixing ring and the anteflexion/postextension shoulder joint angle sensor; the forward bending/backward extending shoulder joint brake pipeline clamping seat is fixed on the shoulder joint L-shaped plate and clamps one end of a forward bending/backward extending shoulder joint brake pipeline; the disc position of the upper arm rod b is provided with a boss with the diameter slightly smaller than that of the forward/backward extending shoulder joint bearing, a clamping groove for clamping a forward/backward extending shoulder joint steel wire rope is formed between the boss and the forward/backward extending shoulder joint bearing, and the forward/backward extending shoulder joint steel wire rope is pressed on the upper arm rod b by a forward/backward extending shoulder joint steel wire rope pressing plate.
Preferably, the external/internal shoulder joint comprises an external/internal shoulder joint steel wire rope pressing plate, an external/internal shoulder joint angle sensor, an external/internal shoulder joint sensor mounting seat, an external/internal shoulder joint fixing ring, an external/internal shoulder joint bearing, a steel wire rope grooved wheel, an external/internal shoulder joint rotating shaft, an external/internal shoulder joint steel wire rope, an external/internal shoulder joint brake pipeline clamping seat, an external/internal shoulder joint brake pipeline and a shoulder joint mounting plate.
The outer swing/inner shoulder joint rotating shaft penetrates through the shoulder joint L-shaped plate and is connected with the steel wire rope grooved wheel through a bolt, and is a shoulder rotating part of the outer swing/inner shoulder joint; the outer swing/inner shoulder joint bearing is fixed on the shoulder joint mounting plate through a bolt, and the outer swing/inner shoulder joint angle sensor is fixed on the shoulder joint mounting plate through an outer swing/inner shoulder joint sensor mounting seat; the outer swing/adduction shoulder joint fixing ring and the step surface of the outer swing/adduction shoulder joint rotating shaft limit the axial movement of the rotating part of the outer swing/adduction shoulder joint together; the outer swing/inner shoulder joint rotating shaft sequentially passes through the shoulder joint L-shaped plate, the steel wire rope grooved wheel, the shoulder joint mounting plate, the outer swing/inner shoulder joint bearing, the outer swing/inner shoulder joint fixing ring and the outer swing/inner shoulder joint angle sensor; one end of the outer swing/inner shoulder joint brake pipeline is clamped by an outer swing/inner shoulder joint brake pipeline clamping seat; the outer swing/inner shoulder joint steel wire rope sequentially passes through an outer swing/inner shoulder joint brake pipeline and a steel wire rope sheave, and the outer swing/inner shoulder joint steel wire rope is pressed on the shoulder joint L-shaped plate by an outer swing/inner shoulder joint steel wire rope pressing plate; the shoulder joint mounting plate is connected with the shoulder joint passive tracking device.
Adopt above-mentioned technical scheme: the upper limb shoulder joint of the patient can be anteflexion/retroflexion and external swing/adduction by the anteflexion/retroextension shoulder joint and the external swing/adduction shoulder joint, and the elbow joint of the patient can be flexion/extension movement by the flexion/extension elbow joint.
Preferably, the shoulder joint passive tracking device comprises three degrees of freedom in the horizontal tracking X direction, the horizontal tracking Y direction and the vertical tracking Z direction, the degree of freedom in each direction is provided with two parallel linear guide rails, each guide rail is provided with two sliding blocks, and two ends of each linear guide rail are provided with guide rail limiting blocks; the degree of freedom in the vertical tracking Z direction is connected with a self-weight spring through a self-weight steel wire rope.
Preferably, the passive tracking means of shoulder joint includes arm mounting panel, horizontal X guide rail stopper, horizontal X linear guide, horizontal X slider, horizontal X guide rail mounting panel, horizontal Y slider, horizontal Y linear guide, horizontal Y guide rail stopper, horizontal Y guide rail mounting panel, riser, apron, vertical slider mounting panel, bottom plate, vertical guide rail mounting panel, vertical guide rail stopper, leading wheel, vertical slider, diaphragm a, diaphragm b, dead weight wire rope, vertical guide rail, diaphragm c, dead weight spring, spring support and diaphragm d.
The mechanical arm mounting plate is fixed on the horizontal X sliding block, horizontal X guide rail limiting blocks are arranged at two ends of the horizontal X linear guide rail, and the horizontal X linear guide rail is connected with the horizontal X guide rail mounting plate; the horizontal X guide rail mounting plate is fixed with the horizontal Y slide block, horizontal Y guide rail limiting blocks are arranged at two ends of the horizontal Y linear guide rail, and the horizontal Y linear guide rail is mounted on the horizontal Y guide rail mounting plate; the horizontal Y guide rail mounting plate is fixed at the upper end of the vertical plate, and the lower end of the vertical plate is connected with the vertical slide block mounting plate through a bolt; the vertical sliding block mounting plate is mounted on the vertical sliding block, and a bottom plate is fixed in the middle of the vertical sliding block mounting plate; two ends of the vertical guide rail are provided with vertical guide rail limiting blocks, and the vertical guide rail is arranged on the vertical guide rail mounting plate; the transverse plate a, the transverse plate b, the transverse plate c and the transverse plate d are fixed on the rack; the vertical guide rail mounting plate is fixed on the transverse plate a and the transverse plate c; guide wheels are arranged on the transverse plate a and the transverse plate b, a self-weight steel wire rope is sleeved on the guide wheels, and a spring support is arranged on the transverse plate d; one end of the self-weight spring is fixed on the spring support, the other end of the self-weight spring is connected with one end of the self-weight steel wire rope, and the other end of the self-weight steel wire rope is pressed on the bottom plate through the cover plate, so that the self-weight of the upper limb exoskeleton rehabilitation mechanical arm and the shoulder joint passive tracking device is offset through the self-weight spring and the self-weight steel wire rope.
Adopt above-mentioned technical scheme: the alignment of the shoulder rotation center of the robot and the shoulder rotation center of the patient can be ensured through the shoulder joint passive tracking device, the upper limb movement rule of the human body is met, and the high comfort level is achieved.
Preferably, the driving module sequentially comprises an abduction/adduction shoulder joint driving structure, an anteflexion/postextension shoulder joint driving structure and a flexion/extension elbow joint driving structure from left to right, and the abduction/adduction shoulder joint driving structure, the anteflexion/postextension shoulder joint driving structure and the flexion/extension elbow joint driving structure are the same.
Preferably, the elbow bending/stretching joint driving structure comprises a motor mounting plate, a driving module brake pipe line clamping seat, a limiting pressing plate, a tensioning device cover plate, a tensioning guide wheel, a guide post, a tensioning spring, a tensioning device bottom plate, a motor shaft sleeve, a speed reducer, a motor, a driving wheel, a motor shaft end cover and a driving wheel clamping plate.
The motor mounting plate is fixed on the rack, and a motor and a speed reducer are mounted on the motor mounting plate; the driving wheel and the motor shaft sleeve are connected to a shaft of the speed reducer through keys, and the end faces of the driving wheel and the motor shaft sleeve are pressed tightly by a motor shaft end cover through bolts; the driving module brake pipe clamp base clamps the other end of the brake pipe of the corresponding joint, and the steel wire rope corresponding to the driving module brake pipe clamp base penetrates out of the brake pipe; the limiting pressing plate clamps the steel wire rope through the bolt, so that the limiting pressing plate moves between the driving module brake pipe line clamping seat and the tensioning device bottom plate, and the corresponding distances of the three joints are different, so that a limiting function is achieved; the front end of the guide post is provided with a tensioning guide wheel, the rear end of the guide post is propped against a tensioning spring, the guide post and the tensioning spring are placed in a groove between a tensioning device cover plate and a tensioning device bottom plate, and a steel wire rope penetrates through the tensioning guide wheel to achieve the tensioning effect; and the driving wheel clamping plate compresses the steel wire rope of the corresponding joint in the driving wheel groove through a bolt.
Adopt above-mentioned technical scheme: the rope is used as a driving element, so that the robot is light in structure, the driving part and the executing mechanism are effectively separated, the safety and the control precision of rehabilitation training are ensured, and the power consumption of the system is reduced.
The invention has the beneficial effects that:
1. the invention has simple structure and convenient control, and can realize the forward/backward extension, outward swing/adduction and elbow joint flexion/extension of the upper limb shoulder joint.
2. Compared with the traditional artificial rehabilitation training, the invention can be applied to the upper limb rehabilitation training of the stroke, and has high training efficiency and high strength.
3. Compared with the traditional upper limb exoskeleton rehabilitation robot, the upper limb exoskeleton rehabilitation robot is driven by a rope, is light in structure, and realizes effective separation of a driving part and an actuating mechanism; the rehabilitation training safety and the control precision are ensured, and the system power consumption is reduced.
4. The invention adopts the shoulder joint passive tracking device to adjust the deviation of the shoulder joint of the human body and the shoulder joint of the exoskeleton mechanical arm in the motion process at any time, so that the rehabilitation training process is more in line with the kinematics rule of the human body, the pulling feeling is avoided, and the comfort is improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic structural diagram of an upper limb exoskeleton rehabilitation mechanical arm in the invention;
FIG. 3 is a schematic structural view of the elbow flexion/extension joint of the present invention;
FIG. 4 is a schematic structural view of a flexion/extension shoulder joint of the present invention;
FIG. 5 is a schematic structural view of the epicycloidal/adductional shoulder joint of the present invention;
FIG. 6 is a schematic structural diagram of the passive shoulder joint tracking device of the present invention;
FIG. 7 is a schematic structural diagram of two degrees of freedom in horizontal tracking X and horizontal tracking Y directions of the passive shoulder joint tracking device in the invention;
FIG. 8 is a schematic structural diagram of the vertical tracking Z-direction degree of freedom of the passive shoulder joint tracking device in the invention;
FIG. 9 is a schematic diagram of the back side structure of the passive shoulder joint tracking device of the present invention;
FIG. 10 is a schematic view of the structure of the driving module of the present invention;
fig. 11 is a schematic view of a connection structure of a guide post and a tension spring of a driving module according to the present invention.
In the figure: 1-upper limb exoskeleton rehabilitation mechanical arm; 2-a shoulder joint passive tracking device; 3-a frame; 4-a drive module; 5-flexion/extension of the elbow joint; 6-anteflexion/postextension shoulder joint; 7-epicycloid/adduction shoulder joint; 8-forearm ligature ring; 9-a forearm pole; 10-elbow joint sensor mount; 11-elbow joint angle sensor; 12-elbow joint brake pipe clamp seat; 13-elbow brake line; 14-elbow joint wire rope; 15-auxiliary fixing splint; 16-elbow joint wire rope pressure plate; 17-elbow joint fixation ring; 18-elbow joint bearing; 19-upper arm bar a; 20-elbow joint shaft; 21-upper arm limit slide block; 22-upper arm fixation clamp; 23-upper arm tie-up ring; 24-upper arm link b; 25-forward/backward extension shoulder joint wire rope pressing plate; 26-anteflexion/extension shoulder joint sensor mount; 27-anteflexion/postextension shoulder joint angle sensors; 28-anteflexion/postextension shoulder joint fixing ring; 29-anteflexion/postflexion shoulder joint bearing; 30-anteflexion/postextension shoulder joint rotation axis; 31-forward/backward extension shoulder joint brake pipe line clamping seat; 32-anteflexion/extension shoulder joint brake line; 33-anteflexion/extension shoulder joint wire rope; 34-shoulder joint L-shaped plate; 35-outward swinging/inward contracting shoulder joint steel wire rope pressing plate; 36-epicycloidal/adductional shoulder joint angle sensor; 37-a swing-out/adduction shoulder joint sensor mount; 38-external swing/internal adduction shoulder joint fixing ring; 39-external swing/internal shoulder joint bearing; 40-a steel rope sheave; 41-outward swinging/inward shoulder joint rotating shaft; 42-outward swinging/inward shoulder joint steel wire rope; 43-outward swinging/inward shoulder joint brake pipe line clamping seat; 44-outward swinging/inward shoulder joint brake line; 45-shoulder joint mounting plate; 46-a robot mounting plate; 47-horizontal X guide rail limit blocks; 48-horizontal X linear guide; 49-horizontal X-slide; 50-horizontal X-rail mounting plate; 51-horizontal Y-slide; 52-horizontal Y-linear guide; 53-horizontal Y guide rail limiting block; 54-horizontal Y-rail mounting plate; 55-vertical plate; 56-cover plate; 57-vertical slider mounting plate; 58-a bottom plate; 59-vertical guide mounting plate; 60-vertical guide rail limiting blocks; 61-a guide wheel; 62-vertical slide block; 63-transverse plate a; 64-horizontal plate b; 65-dead weight wire rope; 66-vertical guide rails; 67-transverse plate c; 68-dead weight spring; 69-spring support; 70-a transverse plate d; 71-a motor mounting plate; 72-drive module brake pipe clamp; 73-limiting pressure plates; 74-tensioner cover plate; 75-tensioning guide wheels; 76-a guide post; 77-a tension spring; 78-tensioner shoe; 79-motor shaft sleeve; 80-a speed reducer; 81-motor; 82-a drive wheel; 83-motor shaft end cap; 84-driving wheel clamp plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, so that those skilled in the art can better understand the advantages and features of the present invention, and thus the scope of the present invention is more clearly defined. The embodiments described herein are only a few embodiments of the present invention, rather than all embodiments, and all other embodiments that can be derived by one of ordinary skill in the art without inventive faculty based on the embodiments described herein are intended to fall within the scope of the present invention.
Referring to fig. 1-11, a rope-driven upper limb exoskeleton rehabilitation robot with a shoulder joint passive tracking function comprises an upper limb exoskeleton rehabilitation mechanical arm 1, a shoulder joint passive tracking device 2, a frame 3 and a driving module 4, wherein the upper limb exoskeleton rehabilitation mechanical arm 1 is mounted on the shoulder joint passive tracking device 2, the shoulder joint passive tracking device 2 is fixed at the upper end part of the frame 3, and the driving module 4 is fixed at the lower end part of the frame 3;
the shoulder joint passive tracking device 2 is connected with a shoulder joint of the upper limb exoskeleton rehabilitation mechanical arm 1 and is used for automatically compensating the deviation between the shoulder joint rotation center of the upper limb exoskeleton rehabilitation mechanical arm 1 and the shoulder joint rotation center of a human body;
the driving module 4 is connected with the upper limb exoskeleton rehabilitation mechanical arm 1 through a steel wire rope, and the upper limb exoskeleton rehabilitation mechanical arm 1 is driven to act by the steel wire rope so as to realize the upper limb rehabilitation movement of the patient;
referring to fig. 2, the upper limb exoskeleton rehabilitation mechanical arm 1 comprises a flexion/extension elbow joint 5, a forward flexion/backward extension shoulder joint 6 and an external swing/adduction shoulder joint 7 which are connected in sequence.
In the embodiment, the drive module 4 drives the elbow joint and the shoulder joint of the upper limb exoskeleton rehabilitation mechanical arm 1 to act through the steel wire rope, so that the upper limb rehabilitation motion of a patient is realized, and the shoulder joint passive tracking device 2 automatically compensates the deviation between the shoulder joint rotation center of the upper limb exoskeleton rehabilitation mechanical arm 1 and the human shoulder joint rotation center in the shoulder joint motion process, so that the requirements of the patient on the safety and comfort of rehabilitation training can be met.
Specifically, referring to fig. 3, the flexion/extension elbow joint 5 includes a forearm strap ring 8, a forearm rod 9, an elbow joint sensor mounting seat 10, an elbow joint angle sensor 11, an elbow joint brake pipe clamping seat 12, an elbow joint brake pipe 13, an elbow joint wire rope 14, an auxiliary fixing clamping plate 15, an elbow joint wire rope pressing plate 16, an elbow joint fixing ring 17, an elbow joint bearing 18, an upper arm rod a19, an elbow joint rotating shaft 20, an upper arm limiting slide block 21, an upper arm fixing clamp 22 and an upper arm strap ring 23.
The forearm rod 9 is disc-shaped at the elbow joint, a forearm binding ring 8 is mounted at the front end of the forearm rod 9, and a slot is reserved in the forearm binding ring 8 and can be used for allowing a magic tape to pass through; the elbow joint bearing 18 is fixed on the forearm rod 9 through a bolt, the elbow joint angle sensor 11 is fixed on the elbow joint sensor mounting seat 10, and the elbow joint sensor mounting seat 10 is connected with the forearm rod 9 to form a forearm rotating part of an elbow joint; the elbow joint rotating shaft 20 is fixed on the upper arm rod a19 through a bolt to form an upper arm rotating part of the elbow joint; the elbow joint rotating shaft 20 is provided with a step surface which limits the axial movement of a forearm rotating part of the elbow joint together with the elbow joint fixing ring 17, and the elbow joint rotating shaft 20 sequentially passes through the upper arm rod a19, the forearm rod 9, the elbow joint bearing 18, the elbow joint fixing ring 17 and the elbow joint angle sensor 11; elbow joint brake pipe clamp 12 is fixed on upper arm pole a19 to elbow joint brake pipe clamp 12 both sides are equipped with the internal diameter and slightly are greater than the hole of elbow joint brake pipe line 13 external diameter to can adjust the tight degree of clamp through the bolt, elbow joint brake pipe line 13 one end is pressed from both sides tightly from this, elbow joint wire rope 14 is worn out by elbow joint brake pipe line 13, the disc position department of forearm pole 9 is equipped with the boss that the diameter slightly is less than elbow joint bearing 18, forms a draw-in groove that is used for joint elbow joint wire rope 14 between this boss and the elbow joint bearing 18, and elbow joint wire rope 14 joint is in this draw-in groove promptly, and elbow joint wire rope 14 is compressed tightly on forearm pole 9 by elbow joint wire rope clamp plate 16 simultaneously.
Specifically, referring to fig. 4, the anteflexion/postflexion shoulder joint 6 includes an upper arm b24, an anteflexion/postflexion shoulder joint cable pressing plate 25, an anteflexion/postflexion shoulder joint sensor mounting seat 26, an anteflexion/postflexion shoulder joint angle sensor 27, an anteflexion/postflexion shoulder joint fixing ring 28, an anteflexion/postflexion shoulder joint bearing 29, an anteflexion/postflexion shoulder joint rotating shaft 30, an anteflexion/postflexion shoulder joint brake cable clamping seat 31, an anteflexion/postflexion shoulder joint brake cable 32, an anteflexion/postflexion shoulder joint cable 33 and a shoulder joint L-shaped plate 34.
Wherein, the upper arm lever b24 and the upper arm lever a19 are connected through the upper arm fixing clamp 22 and the auxiliary fixing clamp plate 15; the upper arm limiting slide block 21 is arranged in a groove of the upper arm rod a19, the upper arm fixing clamp 22 clamps the upper arm rod b24 and the upper arm rod a19, the upper arm fixing clamp and the upper arm binding ring 23 are fixed at the front end of the upper arm rod b24 together through bolts, four bolts are arranged on the other side of the upper arm fixing clamp 22, and the length of the upper arm can be adjusted within a certain range through adjusting the tightening degree of the bolts.
The forward/backward extending shoulder joint rotating shaft 30 is fixed on the shoulder joint L-shaped plate 34 through a bolt and is a shoulder rotating part of the forward/backward extending shoulder joint; the anteflexion/postflexion shoulder joint bearing 29 is fixed on the upper arm rod b24 through a bolt, the anteflexion/postflexion shoulder joint angle sensor 27 is installed on the anteflexion/postflexion shoulder joint sensor installation seat 26, and the anteflexion/postflexion shoulder joint sensor installation seat 26 is connected with the upper arm rod b24 to form an upper arm rotating part of the anteflexion/postflexion shoulder joint; the forward/backward extending shoulder joint fixing ring 28 and the step surface of the forward/backward extending shoulder joint rotating shaft 30 limit the axial movement of the forward/backward extending shoulder joint rotating part; the anteflexion/postextension shoulder joint rotating shaft 30 sequentially passes through the shoulder joint L-shaped plate 34, the upper arm rod b24, the anteflexion/postextension shoulder joint bearing 29, the anteflexion/postextension shoulder joint fixing ring 28 and the anteflexion/postextension shoulder joint angle sensor 27; the forward/backward extending shoulder joint brake pipe line clamp seat 31 is fixed on the shoulder joint L-shaped plate 34, and the forward/backward extending shoulder joint brake pipe line clamp seat 31 clamps one end of a forward/backward extending shoulder joint brake pipe line 32; the disc of the upper arm lever b24 is provided with a boss with a diameter slightly smaller than that of the forward/backward extending shoulder joint bearing 29, a clamping groove for clamping the forward/backward extending shoulder joint steel wire rope 33 is formed between the boss and the forward/backward extending shoulder joint bearing 29, namely, the forward/backward extending shoulder joint steel wire rope 33 is clamped in the clamping groove, and meanwhile, the forward/backward extending shoulder joint steel wire rope 33 is pressed on the upper arm lever b24 by the forward/backward extending shoulder joint steel wire rope pressing plate 25.
Specifically, referring to fig. 5, the epicycloidal/adductional shoulder joint 7 includes an epicycloidal/adductional shoulder joint cable pressing plate 35, an epicycloidal/adductional shoulder joint angle sensor 36, an epicycloidal/adductional shoulder joint sensor mounting seat 37, an epicycloidal/adductional shoulder joint fixing ring 38, an epicycloidal/adductional shoulder joint bearing 39, a cable sheave 40, an epicycloidal/adductional shoulder joint rotating shaft 41, an epicycloidal/adductional shoulder joint cable 42, an epicycloidal/adductional shoulder joint brake cable clamping seat 43, an epicycloidal/addional shoulder joint brake cable 44, and a shoulder joint mounting plate 45.
The outer swing/inner shoulder joint rotating shaft 41 penetrates through the shoulder joint L-shaped plate 34 and is connected with the steel wire rope grooved wheel 40 through a bolt, and is a shoulder rotating part of the outer swing/inner shoulder joint; the external swing/internal contraction shoulder joint bearing 39 is fixed on the shoulder joint mounting plate 45 through a bolt, and the external swing/internal contraction shoulder joint angle sensor 36 is fixed on the shoulder joint mounting plate 45 through an external swing/internal contraction shoulder joint sensor mounting seat 37; the external swing/internal shoulder joint fixing ring 38 and the step surface of the external swing/internal shoulder joint rotating shaft 41 limit the axial movement of the rotating part of the external swing/internal shoulder joint; the outer swing/inner shoulder joint rotating shaft 41 sequentially passes through the shoulder joint L-shaped plate 34, the steel wire rope grooved pulley 40, the shoulder joint mounting plate 45, the outer swing/inner shoulder joint bearing 39, the outer swing/inner shoulder joint fixing ring 38 and the outer swing/inner shoulder joint angle sensor 36; one end of the outer swing/inner adduction shoulder joint brake pipeline 44 is clamped by an outer swing/inner adduction shoulder joint brake pipeline clamping seat 43; the outer swing/inner shoulder joint steel wire rope 42 sequentially passes through an outer swing/inner shoulder joint brake pipeline 44 and a steel wire rope sheave 40, and the outer swing/inner shoulder joint steel wire rope 42 is pressed on the shoulder joint L-shaped plate 34 by an outer swing/inner shoulder joint steel wire rope pressing plate 35; the shoulder joint mounting plate 45 is connected with the shoulder joint passive tracking device 2.
In this embodiment, the flexion/extension of the upper limb shoulder joint and the external swing/adduction of the patient can be achieved by the flexion/extension shoulder joint and the external swing/adduction shoulder joint, and the flexion/extension of the elbow joint of the patient can be achieved by the flexion/extension elbow joint.
Specifically, referring to fig. 6 to 9, the shoulder joint passive tracking device 2 includes three degrees of freedom in a horizontal tracking X direction, a horizontal tracking Y direction and a vertical tracking Z direction, the degree of freedom in each direction is provided with two parallel linear guide rails, each guide rail is provided with two sliding blocks, and two ends of each linear guide rail are provided with guide rail limiting blocks; the degree of freedom in the vertical tracking Z direction is connected with a self-weight spring through a self-weight steel wire rope.
The shoulder joint passive tracking device 2 comprises a mechanical arm mounting plate 46, a horizontal X guide rail limiting block 47, a horizontal X linear guide rail 48, a horizontal X slide block 49, a horizontal X guide rail mounting plate 50, a horizontal Y slide block 51, a horizontal Y linear guide rail 52, a horizontal Y guide rail limiting block 53, a horizontal Y guide rail mounting plate 54, a vertical plate 55, a cover plate 56, a vertical slide block mounting plate 57, a bottom plate 58, a vertical guide rail mounting plate 59, a vertical guide rail limiting block 60, a guide wheel 61, a vertical slide block 62, a transverse plate a63, a transverse plate b64, a self-weight steel wire rope 65, a vertical guide rail 66, a transverse plate c67, a self-weight spring 68, a spring support column 69 and a transverse plate d 70.
The mechanical arm mounting plate 46 is fixed on a horizontal X sliding block 49, horizontal X guide rail limiting blocks 47 are arranged at two ends of the horizontal X linear guide rail 48, and the horizontal X linear guide rail 48 is connected with a horizontal X guide rail mounting plate 50; the horizontal X guide rail mounting plate 50 is fixed with the horizontal Y slide block 51, horizontal Y guide rail limiting blocks 53 are arranged at two ends of the horizontal Y linear guide rail 52, and the horizontal Y linear guide rail 52 is mounted on a horizontal Y guide rail mounting plate 54; the horizontal Y guide rail mounting plate 54 is fixed at the upper end of the vertical plate 55, and the lower end of the vertical plate 55 is connected with the vertical slide block mounting plate 57 through a bolt; the vertical sliding block mounting plate 57 is mounted on the vertical sliding block 62, and a bottom plate 58 is fixed in the middle of the vertical sliding block mounting plate 57; the two ends of the vertical guide rail 66 are both provided with vertical guide rail limiting blocks 60, and the vertical guide rail 66 is arranged on the vertical guide rail mounting plate 59; the transverse plate a63, the transverse plate b64, the transverse plate c67 and the transverse plate d70 are fixed on the frame; the vertical guide rail mounting plate 59 is fixed on the transverse plate a63 and the transverse plate c 67; guide wheels 61 are arranged on the transverse plate a63 and the transverse plate b64, a self-weight steel wire rope 65 is sleeved on each guide wheel 61, and a spring support column 69 is arranged on the transverse plate d 70; one end of the dead weight spring 68 is fixed on a spring support 69, the other end of the dead weight spring 68 is connected with one end of a dead weight wire rope 65, and the other end of the dead weight wire rope 65 is pressed on the bottom plate 58 by the cover plate 56, so that the dead weight of the upper limb exoskeleton rehabilitation mechanical arm and the shoulder joint passive tracking device is offset through the dead weight spring 68 and the dead weight wire rope 65.
In this embodiment, the shoulder joint passive tracking device has an effect of ensuring that the human shoulder joint and the shoulder joint of the exoskeleton mechanical arm coincide and coincide in the motion process. Because the rotation center of the human shoulder joint is not fixed and unchanged in the process of upper limb movement, when the exoskeleton mechanical arm drives the upper limb to move, the rotation center of the human shoulder joint and the rotation center of the shoulder joint of the mechanical arm can generate deviation, and the dragging feeling and even the injury can be caused. The shoulder joint passive tracking device can automatically compensate the deviation between the exoskeleton mechanical arm and the human shoulder joint rotation center through the horizontal tracking module and the vertical tracking module. For example, when deviation occurs in the horizontal direction, acting force in the horizontal direction is applied to the exoskeleton mechanical arm by the upper limbs of a human body, the joint position deviation is eliminated by the passive tracking device through adjusting the position in the horizontal direction, the movement coordination is ensured, and the horizontal tracking module is composed of two pairs of linear guide rails which are vertically arranged, and can freely follow the rotation center of the shoulder joint on the horizontal plane. The vertical tracking module with the spring can compensate the total weight of the arm, the exoskeleton rehabilitation mechanical arm and the tracking device, and realizes the vertical tracking of the rotation center of the mechanical arm on the rotation center of the shoulder joint of the human body.
Specifically, referring to fig. 10 to 11, the driving module 4 sequentially includes an abduction/adduction shoulder joint driving structure, an anteflexion/postextension shoulder joint driving structure, and a flexion/extension elbow joint driving structure from left to right, and the abduction/adduction shoulder joint driving structure, the anteflexion/postextension shoulder joint driving structure, and the flexion/extension elbow joint driving structure are all the same.
The elbow bending/stretching joint driving structure comprises a motor mounting plate 71, a driving module brake pipe clamp seat 72, a limiting pressing plate 73, a tensioning device cover plate 74, a tensioning guide wheel 75, a guide column 76, a tensioning spring 77, a tensioning device bottom plate 78, a motor shaft sleeve 79, a speed reducer 80, a motor 81, a driving wheel 82, a motor shaft end cover 83 and a driving wheel clamping plate 84.
The motor mounting plate 71 is fixed on the frame, and a motor 81 and a speed reducer 80 are mounted on the motor mounting plate 71; the driving wheel 82 and the motor shaft sleeve 79 are connected on the shaft of the speed reducer 80 through keys, and the end faces of the driving wheel 82 and the motor shaft sleeve 79 are pressed tightly by a motor shaft end cover 83 through bolts; the driving module brake pipe clamp seat 72 clamps the other end of the brake pipe of the corresponding joint, and the steel wire rope corresponding to the driving module brake pipe clamp seat 72 penetrates out of the brake pipe; the limiting pressure plate 73 clamps the steel wire rope through a bolt, so that the limiting pressure plate 73 moves between the driving module brake pipe cable clamping seat 72 and the tensioning device bottom plate 78; corresponding distances of the abduction/adduction shoulder joint driving structure, the anteflexion/postextension shoulder joint driving structure and the flexion/extension elbow joint driving structure are different, so that a limiting function is achieved; a tensioning guide wheel 75 is mounted at the front end of the guide column 76, the rear end of the guide column 76 abuts against a tensioning spring 77, the guide column 76 and the tensioning spring 77 are placed in a groove between the tensioning device cover plate 74 and the tensioning device base plate 78, and a steel wire rope penetrates through the tensioning guide wheel 75 to achieve the tensioning effect; the driving wheel clamping plate 84 presses the steel wire rope of the corresponding joint into the groove of the driving wheel 82 through a bolt.
In the embodiment, the rope is used as the driving element, so that the robot is light in structure, the driving part and the executing mechanism are effectively separated, the safety and the control precision of rehabilitation training are ensured, and the power consumption of the system is reduced.
The rehabilitation working process of the rope-driven upper limb exoskeleton rehabilitation robot is as follows:
the method comprises the following steps: the height of the upper limb exoskeleton rehabilitation mechanical arm 1 on the rack 3 is adjusted according to the body type of the patient;
step two: adjusting the upper arm lever a19 and the upper arm lever b24 to enable the elbow joint of the upper limb exoskeleton rehabilitation mechanical arm 1 to correspond to the elbow joint of the patient;
step three: magic tapes at the forearm binding ring 8 and the upper arm binding ring 23 are bound at the corresponding positions of the arms of the patient;
step four: the self-weight spring 68 offsets the weight of the upper limb exoskeleton rehabilitation mechanical arm 1, the shoulder joint passive tracking device 2 and the upper limb, so that the upper limb of the patient is in a relaxed state;
step five: according to the rehabilitation training requirement, the motor 81 corresponding to each joint receives signals, rotates by a corresponding angle, and drives the corresponding joint to make a corresponding action through the steel wire rope;
step six: when a patient moves, the shoulder joint passive tracking device 2 enables the shoulder rotation center of the upper limb exoskeleton rehabilitation mechanical arm 1 to be finely adjusted to correspond to the rotation center of the shoulder joint of the patient at any time;
step seven: an angle sensor arranged at each joint detects the rotation angle of the joint in real time and transmits the rotation angle back to a program for processing;
step eight: when the rotation angle exceeds the range, the limit pressure plate 73 is blocked by the brake pipe clamp seat and the tensioning device bottom plate to complete mechanical limit, and the signal returned by the angle sensor enables the program to alarm and power off.
In conclusion, the rope with the shoulder joint passive tracking function drives the upper limb exoskeleton rehabilitation robot, can be applied to stroke upper limb rehabilitation training, and has high training efficiency and high strength compared with the traditional artificial rehabilitation training; compared with other upper limb exoskeleton rehabilitation robots, the robot is driven by a rope, the structure is light, and the driving part and the actuating mechanism are effectively separated; the shoulder joint passive tracking device can adjust the deviation of the shoulder joint of the human body and the shoulder joint of the exoskeleton mechanical arm in the motion process at any time, so that the rehabilitation training process is more in line with the kinematics rule of the human body, the pulling feeling is avoided, and the comfort is improved.
The embodiments of the present invention have been described in detail, but the description is only for the preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (8)
1. The utility model provides a rope drive upper limbs ectoskeleton rehabilitation robot with shoulder joint passive tracking function which characterized in that: the upper limb exoskeleton rehabilitation mechanical arm (1) is installed on the shoulder joint passive tracking device (2), the shoulder joint passive tracking device (2) is fixed at the upper end of the rack (3), and the driving module (4) is fixed at the lower end of the rack (3);
the shoulder joint passive tracking device (2) is connected with a shoulder joint of the upper limb exoskeleton rehabilitation mechanical arm (1) and is used for automatically compensating the deviation between the shoulder joint rotation center of the upper limb exoskeleton rehabilitation mechanical arm (1) and the human shoulder joint rotation center;
the driving module (4) is connected with the upper limb exoskeleton rehabilitation mechanical arm (1) through a steel wire rope, and the upper limb exoskeleton rehabilitation mechanical arm (1) is driven to move by the steel wire rope so as to realize upper limb rehabilitation movement of a patient;
the upper limb exoskeleton rehabilitation mechanical arm (1) comprises an elbow bending/extending joint (5), a shoulder bending/extending joint (6) and an external swinging/adduction shoulder joint (7) which are connected in sequence.
2. The rope-driven upper limb exoskeleton rehabilitation robot with the shoulder joint passive tracking function as claimed in claim 1, wherein: the bending/stretching elbow joint (5) comprises a forearm tying ring (8), a forearm rod (9), an elbow joint sensor mounting seat (10), an elbow joint angle sensor (11), an elbow joint brake pipeline clamping seat (12), an elbow joint brake pipeline (13), an elbow joint steel wire rope (14), an auxiliary fixing clamping plate (15), an elbow joint steel wire rope pressing plate (16), an elbow joint fixing ring (17), an elbow joint bearing (18), an upper arm rod a (19), an elbow joint rotating shaft (20), an upper arm limiting sliding block (21), an upper arm fixing clamp (22) and an upper arm tying ring (23);
the forearm rod (9) is disc-shaped at the elbow joint, and the front end part of the forearm rod (9) is provided with a forearm binding ring (8); the elbow joint bearing (18) is fixed on the forearm rod (9) through a bolt, the elbow joint angle sensor (11) is fixed on the elbow joint sensor mounting seat (10), and the elbow joint sensor mounting seat (10) is connected with the forearm rod (9) to form a forearm rotating part of an elbow joint; the elbow joint rotating shaft (20) is fixed on the upper arm rod a (19) through a bolt to form an upper arm rotating part of the elbow joint; the elbow joint rotating shaft (20) and the elbow joint fixing ring (17) limit axial movement of a forearm rotating part of the elbow joint together, and the elbow joint rotating shaft (20) sequentially penetrates through an upper arm rod a (19), a forearm rod (9), an elbow joint bearing (18), an elbow joint fixing ring (17) and an elbow joint angle sensor (11); elbow joint brake pipe clamp seat (12) are fixed on upper arm pole a (19), elbow joint wire rope (14) are worn out by elbow joint brake pipe line (13), the disc position department of forearm pole (9) is equipped with the boss that the diameter slightly is less than elbow joint bearing (18), form a draw-in groove that is used for joint elbow joint wire rope (14) between boss and elbow joint bearing (18), elbow joint wire rope (14) are compressed tightly on forearm pole (9) by elbow joint wire rope clamp plate (16).
3. The rope-driven upper limb exoskeleton rehabilitation robot with the shoulder joint passive tracking function as claimed in claim 2, wherein: the anteflexion/postflexion shoulder joint (6) comprises an upper arm bar b (24), an anteflexion/postflexion shoulder joint steel wire rope pressing plate (25), an anteflexion/postflexion shoulder joint sensor installation seat (26), an anteflexion/postflexion shoulder joint angle sensor (27), an anteflexion/postflexion shoulder joint fixing ring (28), an anteflexion/postflexion shoulder joint bearing (29), an anteflexion/postflexion shoulder joint rotating shaft (30), an anteflexion/postflexion shoulder joint brake pipe line clamping seat (31), an anteflexion/postflexion shoulder joint brake pipe line (32), an anteflexion/postflexion shoulder joint steel wire rope (33) and a shoulder joint L-shaped plate (34);
the upper arm rod b (24) is connected with the upper arm rod a (19) through an upper arm fixing clamp (22) and an auxiliary fixing clamp plate (15); the upper arm limiting sliding block (21) is arranged in a groove of the upper arm rod a (19), and after the upper arm rod b (24) and the upper arm rod a (19) are clamped by the upper arm fixing clamp (22), the upper arm limiting sliding block and the upper arm fixing clamp are fixed to the front end of the upper arm rod b (24) through bolts and an upper arm binding ring (23);
the forward bending/backward extending shoulder joint rotating shaft (30) is fixed on the shoulder joint L-shaped plate (34) through a bolt and is a shoulder rotating part of the forward bending/backward extending shoulder joint; the anteflexion/postflexion shoulder joint bearing (29) is fixed on the upper arm rod b (24) through a bolt, the anteflexion/postflexion shoulder joint angle sensor (27) is installed on an anteflexion/postflexion shoulder joint sensor installation seat (26), and the anteflexion/postflexion shoulder joint sensor installation seat (26) is connected with the upper arm rod b (24) to form an upper arm rotating part of an anteflexion/postflexion shoulder joint; the anteflexion/postextension shoulder joint fixing ring (28) and the step surface of the anteflexion/postextension shoulder joint rotating shaft (30) limit the axial movement of the rotating part of the anteflexion/postextension shoulder joint together; the anteflexion/postextension shoulder joint rotating shaft (30) sequentially penetrates through a shoulder joint L-shaped plate (34), an upper arm rod b (24), an anteflexion/postextension shoulder joint bearing (29), an anteflexion/postextension shoulder joint fixing ring (28) and an anteflexion/postextension shoulder joint angle sensor (27); the anteflexion/postextension shoulder joint brake pipe clamp seat (31) is fixed on the shoulder joint L-shaped plate (34), and the anteflexion/postextension shoulder joint brake pipe clamp seat (31) clamps one end of an anteflexion/postextension shoulder joint brake pipe (32); the disc position of the upper arm rod b (24) is provided with a boss with the diameter slightly smaller than that of the forward/backward extending shoulder joint bearing (29), a clamping groove for clamping a forward/backward extending shoulder joint steel wire rope (33) is formed between the boss and the forward/backward extending shoulder joint bearing (29), and the forward/backward extending shoulder joint steel wire rope (33) is pressed on the upper arm rod b (24) through a forward/backward extending shoulder joint steel wire rope pressing plate (25).
4. The rope-driven upper limb exoskeleton rehabilitation robot with the shoulder joint passive tracking function as claimed in claim 1, wherein: the outer swing/inner adduction shoulder joint (7) comprises an outer swing/inner adduction shoulder joint steel wire rope pressing plate (35), an outer swing/inner adduction shoulder joint angle sensor (36), an outer swing/inner adduction shoulder joint sensor mounting seat (37), an outer swing/inner adduction shoulder joint fixing ring (38), an outer swing/inner adduction shoulder joint bearing (39), a steel wire rope sheave (40), an outer swing/inner adduction shoulder joint rotating shaft (41), an outer swing/inner adduction shoulder joint steel wire rope (42), an outer swing/inner adduction shoulder joint brake pipeline clamping seat (43), an outer swing/inner adduction shoulder joint brake pipeline (44) and a shoulder joint mounting plate (45);
the outer swing/inner shoulder joint rotating shaft (41) penetrates through the shoulder joint L-shaped plate (34) and is connected with the steel wire rope grooved wheel (40) through a bolt, and is a shoulder rotating part of the outer swing/inner shoulder joint; the outer swing/inner shoulder joint bearing (39) is fixed on the shoulder joint mounting plate (45) through a bolt, and the outer swing/inner shoulder joint angle sensor (36) is fixed on the shoulder joint mounting plate (45) through an outer swing/inner shoulder joint sensor mounting seat (37); the external swing/adduction shoulder joint fixing ring (38) and the step surface of the external swing/adduction shoulder joint rotating shaft (41) limit the axial movement of the rotating part of the external swing/adduction shoulder joint together; the outer swing/inner shoulder joint rotating shaft (41) sequentially penetrates through the shoulder joint L-shaped plate (34), the steel wire rope grooved pulley (40), the shoulder joint mounting plate (45), the outer swing/inner shoulder joint bearing (39), the outer swing/inner shoulder joint fixing ring (38) and the outer swing/inner shoulder joint angle sensor (36); one end of the outer swing/inner adduction shoulder joint brake pipeline (44) is clamped by an outer swing/inner adduction shoulder joint brake pipeline clamping seat (43); the outer swing/inner shoulder joint steel wire rope (42) sequentially penetrates through an outer swing/inner shoulder joint brake pipeline (44) and a steel wire rope sheave (40), and the outer swing/inner shoulder joint steel wire rope (42) is pressed on the shoulder joint L-shaped plate (34) through an outer swing/inner shoulder joint steel wire rope pressing plate (35); the shoulder joint mounting plate (45) is connected with the shoulder joint passive tracking device (2).
5. The rope-driven upper limb exoskeleton rehabilitation robot with the shoulder joint passive tracking function as claimed in claim 1, wherein: the shoulder joint passive tracking device (2) comprises three degrees of freedom in the horizontal tracking X direction, the horizontal tracking Y direction and the vertical tracking Z direction, the degree of freedom in each direction is provided with two parallel linear guide rails, each guide rail is provided with two sliding blocks, and two ends of each linear guide rail are provided with guide rail limiting blocks; the degree of freedom in the vertical tracking Z direction is connected with a self-weight spring through a self-weight steel wire rope.
6. The rope-driven upper limb exoskeleton rehabilitation robot with the shoulder joint passive tracking function as claimed in claim 5, wherein: the shoulder joint passive tracking device (2) comprises a mechanical arm mounting plate (46), a horizontal X guide rail limiting block (47), a horizontal X linear guide rail (48), a horizontal X sliding block (49), a horizontal X guide rail mounting plate (50), a horizontal Y sliding block (51), a horizontal Y linear guide rail (52), a horizontal Y guide rail limiting block (53), a horizontal Y guide rail mounting plate (54), a vertical plate (55), a cover plate (56), a vertical sliding block mounting plate (57), a bottom plate (58), a vertical guide rail mounting plate (59), a vertical guide rail limiting block (60), a guide wheel (61), a vertical sliding block (62), a transverse plate a (63), a transverse plate b (64), a self-weight steel wire rope (65), a vertical guide rail (66), a transverse plate c (67), a self-weight spring (68), a spring strut (69) and a transverse plate d (70);
the mechanical arm mounting plate (46) is fixed on a horizontal X sliding block (49), horizontal X guide rail limiting blocks (47) are arranged at two ends of a horizontal X linear guide rail (48), and the horizontal X linear guide rail (48) is connected with a horizontal X guide rail mounting plate (50); the horizontal X guide rail mounting plate (50) is fixed with the horizontal Y sliding block (51), horizontal Y guide rail limiting blocks (53) are arranged at two ends of the horizontal Y linear guide rail (52), and the horizontal Y linear guide rail (52) is mounted on the horizontal Y guide rail mounting plate (54); the horizontal Y guide rail mounting plate (54) is fixed at the upper end of a vertical plate (55), and the lower end of the vertical plate (55) is connected with a vertical slide block mounting plate (57) through a bolt; the vertical sliding block mounting plate (57) is mounted on the vertical sliding block (62), and a bottom plate (58) is fixed in the middle of the vertical sliding block mounting plate (57); the two ends of the vertical guide rail (66) are provided with vertical guide rail limiting blocks (60), and the vertical guide rail (66) is arranged on the vertical guide rail mounting plate (59); the transverse plate a (63), the transverse plate b (64), the transverse plate c (67) and the transverse plate d (70) are fixed on the rack; the vertical guide rail mounting plate (59) is fixed on the transverse plate a (63) and the transverse plate c (67); guide wheels (61) are mounted on the transverse plate a (63) and the transverse plate b (64), a self-weight steel wire rope (65) is sleeved on each guide wheel (61), and a spring support column (69) is mounted on the transverse plate d (70); one end of the dead weight spring (68) is fixed on the spring support column (69), the other end of the dead weight spring (68) is connected with one end of the dead weight wire rope (65), the other end of the dead weight wire rope (65) is pressed on the bottom plate (58) through the cover plate (56), and therefore the dead weight of the upper limb exoskeleton rehabilitation mechanical arm and the shoulder joint passive tracking device is offset through the dead weight spring (68) and the dead weight wire rope (65).
7. The rope-driven upper limb exoskeleton rehabilitation robot with the shoulder joint passive tracking function as claimed in claim 1, wherein: the driving module (4) sequentially comprises an abduction/adduction shoulder joint driving structure, a forward flexion/backward extension shoulder joint driving structure and a flexion/extension elbow joint driving structure from left to right, and the abduction/adduction shoulder joint driving structure, the forward flexion/backward extension shoulder joint driving structure and the flexion/extension elbow joint driving structure are the same.
8. The rope-driven upper limb exoskeleton rehabilitation robot with the shoulder joint passive tracking function as claimed in claim 7, wherein: the elbow bending/stretching joint driving structure comprises a motor mounting plate (71), a driving module brake pipe clamp seat (72), a limiting pressing plate (73), a tensioning device cover plate (74), a tensioning guide wheel (75), a guide post (76), a tensioning spring (77), a tensioning device bottom plate (78), a motor shaft sleeve (79), a speed reducer (80), a motor (81), a driving wheel (82), a motor shaft end cover (83) and a driving wheel clamping plate (84);
the motor mounting plate (71) is fixed on the rack, and a motor (81) and a speed reducer (80) are mounted on the motor mounting plate (71); the driving wheel (82) and the motor shaft sleeve (79) are connected on a shaft of the speed reducer (80) through keys, and the end faces of the driving wheel (82) and the motor shaft sleeve (79) are pressed tightly by a motor shaft end cover (83) through bolts; the driving module brake pipe clamp seat (72) clamps the other end of the brake pipe of the corresponding joint, and the steel wire rope corresponding to the driving module brake pipe clamp seat (72) penetrates out of the brake pipe; the limiting pressure plate (73) clamps the steel wire rope through a bolt, so that the limiting pressure plate (73) moves between the driving module brake pipe cable clamping seat (72) and the tensioning device bottom plate (78); a tensioning guide wheel (75) is installed at the front end of the guide column (76), the rear end of the guide column (76) abuts against a tensioning spring (77), the guide column (76) and the tensioning spring (77) are placed in a groove between a tensioning device cover plate (74) and a tensioning device bottom plate (78), and a steel wire rope penetrates through the tensioning guide wheel (75) to achieve tensioning; the driving wheel clamping plate (84) presses the steel wire rope of the corresponding joint into the groove of the driving wheel (82) through a bolt.
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