CN112545835A - Wrist joint assembly for upper limb exoskeleton - Google Patents

Abstract

Translated fromChinese

本发明公开了一种上肢外骨骼用腕关节组件，包括第一旋转机构和第二旋转机构；第一旋转机构包括第一电机、与第一电机的输出轴驱动连接的第一旋转板以及与所述第一旋转板的另一端固接的第一连接板；第二旋转机构包括固接在所述第一连接板上的第二电机、与所述第二电机的输出轴驱动连接的第二旋转板以及设置在所述第二旋转板上的把手。本发明可完成腕关节尺屈/桡屈及背屈/掌屈的运动，实现腕关节在这两个自由度上的训练，同时限位装置保障了该组件使用过程的安全性；本发明的限位装置还具有缓冲机构，能缓冲碰撞冲击力，减小对手腕的冲击造成的伤害或不适感，能提高其使用的舒适性；本发明结构简单，不同粗细的手臂的患者均可使用，适应性强。

The invention discloses a wrist joint assembly for an upper limb exoskeleton, comprising a first rotation mechanism and a second rotation mechanism; the first rotation mechanism includes a first motor, a first rotation plate drivingly connected with an output shaft of the first motor, and a first rotation plate connected with the output shaft of the first motor. A first connecting plate fixedly connected to the other end of the first rotating plate; the second rotating mechanism includes a second motor fixed on the first connecting plate, and a second motor that is drivingly connected to the output shaft of the second motor. Two rotating plates and a handle arranged on the second rotating plate. The invention can complete the movements of ulnar flexion/radial flexion and dorsiflexion/palm flexion of the wrist joint, realize the training of the wrist joint in these two degrees of freedom, and at the same time, the limiting device ensures the safety of the component during use; The limiting device also has a buffer mechanism, which can buffer the impact force of collision, reduce the injury or discomfort caused by the impact on the wrist, and improve the comfort of its use; the present invention has a simple structure, and can be used by patients with arms of different thicknesses. Adaptable.

Description

Wrist joint assembly for upper limb exoskeleton

Technical Field

The invention relates to the field of rehabilitation medical equipment, in particular to a wrist joint assembly for an upper limb exoskeleton.

Background

For patients with stroke, stroke and paraplegic limb disabilities, the quality of life depends on the degree of recovery of the function of the disabled limb. The limb movement function of a patient is improved by applying an advanced rehabilitation treatment technology, so that the patient can achieve the most satisfactory rehabilitation treatment effect in the shortest time and finally get rid of the affliction of the patient and the disabled, and the limb movement function rehabilitation therapy method is always the target of a rehabilitation worker.

The exoskeleton rehabilitation robot is used as a high-end medical instrument for nerve rehabilitation, and can help patients to perform rehabilitation training with high strength, repeatability, pertinence and interactivity. The upper limb exoskeleton rehabilitation robot can be used for carrying out rehabilitation training on shoulder joints, elbow joints and wrist joints of patients. The wrist joint has the degrees of freedom of dorsiflexion/palmar flexion and ulnar flexion/radial flexion, and the wrist joint rehabilitation training component needs to be capable of realizing the training of the two degrees of freedom. In the prior art, an arc-shaped guide rail type wrist joint is adopted, such as Chinese patent 201110086977.6: an upper limb exoskeleton type rehabilitation mechanical arm, wherein a wrist joint component has the defects of complex structure and weak adaptability. In addition, in order to ensure the safety of wrist joint rehabilitation training, safety limiting is required, but the existing mechanism is lack of a related limiting mechanism or adopts a rigid limiting mechanism, so that certain collision impact force exists, and the use comfort is reduced.

Disclosure of Invention

The present invention aims to solve the above-mentioned problems in the prior art, and provides a wrist joint assembly for an upper limb exoskeleton.

In order to solve the technical problems, the invention adopts the technical scheme that: the wrist joint assembly for the upper limb exoskeleton comprises a first rotating mechanism and a second rotating mechanism;

the first rotating mechanism comprises a first motor, a first rotating plate in driving connection with an output shaft of the first motor and a first connecting plate fixedly connected with the other end of the first rotating plate;

the second rotating mechanism comprises a second motor fixedly connected to the first connecting plate, a second rotating plate in driving connection with an output shaft of the second motor, and a handle arranged on the second rotating plate;

the first motor is used for driving the first connecting plate to rotate around an X axis, the second motor is used for driving the second connecting plate to rotate around a Z axis, so that when a user holds the handle by a palm, passive training of ulnar bending/radial bending movement of the wrist joint can be achieved through the first rotating mechanism, and passive training of dorsiflexion/palmar bending movement of the wrist joint can be achieved through the second rotating mechanism.

Preferably, the first rotating plate includes a rectangular portion in the middle and two semicircular portions at both ends of the rectangular portion;

a first limit stop block and a second limit stop block are fixedly connected to the first motor at intervals;

the first limit stop block blocks the first side of the rectangular part, so that the limit position of the first rotating plate rotating around the X axis towards the first direction can be limited;

the second limit stopper can limit a limit position at which the first rotating plate rotates around the X axis in a second direction opposite to the first direction by blocking the second side of the rectangular portion.

Preferably, the second rotating plate is circular, and a blocking part is formed on the outer periphery of the second rotating plate in an outward protruding mode;

a third limit stop and a fourth limit stop are fixedly connected to the second motor at intervals, and the third limit stop and the fourth limit stop are positioned on two sides of the blocking part;

the third limit stop block can limit the limit position of the second rotating plate rotating around the Z axis towards the third direction by blocking the first side of the blocking part;

the fourth limit stop can limit the limit position of the second rotating plate rotating around the Z axis towards a fourth direction opposite to the third direction by blocking the second side of the blocking part.

Preferably, the first limit stop, the second limit stop, the third limit stop and the fourth limit stop have the same structure and respectively comprise a stop body, an arc-shaped contact groove formed in the inner side surface of the stop body and a fixing hole formed in the first end of the stop body; a fixing piece used for fixedly connecting the stop block body on the outer wall of the first motor or the second motor is arranged in the fixing hole;

the arc-shaped contact groove is used for being in contact with the cylindrical outer wall of the first motor or the second motor, and the second end of the check block body is used for blocking the rectangular part or the blocking part.

Preferably, the fixing hole is a unthreaded hole, the outer walls of the first motor and the second motor are provided with threaded holes corresponding to the positions of the fixing holes, and the fixing piece is a screw capable of passing through the unthreaded hole and being connected in the threaded holes in a threaded manner.

Preferably, a first deformation groove is formed in the middle of the second end of the stopper body, and the width of the first deformation groove gradually decreases from the second end of the stopper body to the first end of the stopper body;

the first deformation groove does not penetrate through the stop block body along the length direction, and penetrates through the stop block body along the thickness direction;

the length direction of the stop block body is towards the first end of the stop block body along the second end of the stop block body, and the opening direction of the fixing hole is the thickness direction of the stop block body.

Preferably, a buffer spring is connected between the two inner walls of the first deformation groove, and a limit column is fixedly connected to one of the inner walls of the first deformation groove.

Preferably, the two side faces of the second end of the block body, which are used for contacting the rectangular part or the blocking part, are respectively provided with an arc-shaped blocking groove.

Preferably, the middle part of the arc-shaped contact groove is provided with a second deformation groove facing the inside of the stopper body.

Preferably, a second connecting plate is fixedly connected to the second rotating plate, the handle is rotatably connected to the second connecting plate, and a central axis of the handle is parallel to the Z axis.

The invention has the beneficial effects that: the wrist joint assembly for the upper limb exoskeleton can complete the movement of ulnar bending/radial bending and dorsiflexion/palmar bending of the wrist joint, the training of the wrist joint on the two degrees of freedom is realized, and meanwhile, the safety of the assembly in the using process is ensured by the limiting device; the limiting device is also provided with a buffer mechanism, so that the collision impact force can be buffered, the damage or discomfort caused by the impact on the wrist can be reduced, and the use comfort can be improved; the invention has simple structure, can be used by patients with arms of different thicknesses, and has strong adaptability.

Drawings

Fig. 1 is a schematic structural view of a wrist joint assembly for an upper extremity exoskeleton of the present invention;

fig. 2 is a schematic structural view of the wrist joint assembly for upper extremity exoskeleton of the present invention from another perspective;

fig. 3 is a schematic structural view of the first rotating plate of the present invention in an upright state;

FIG. 4 is a schematic view of the first rotating plate of the present invention in an extreme rotational position;

fig. 5 is a schematic view of the first rotating plate of the present invention in another extreme rotational position;

FIG. 6 is a schematic view of a chock body according to an embodiment of the invention;

FIG. 7 is a schematic view of a chock body according to another embodiment of the invention;

FIG. 8 is a cross-sectional structural view of a chock body according to another embodiment of the invention.

Description of reference numerals:

1 — a first rotation mechanism; 10-a first motor; 11-a first rotating plate; 12 — a first connection plate; 13-a rectangular portion; 14-a semi-circular portion; 15-a first side of the rectangular portion; 16-the second side of the rectangular portion; 17-a first limit stop; 18-second limit stop; 19-mounting a plate;

2-a second rotating mechanism; 20-a second motor; 21-a second rotating plate; 22-a second connecting plate; 23-a handle; 24-a blocking portion; 25-a first side of the blocking portion; 26-a second side of the blocking portion; 27-a third limit stop; 28-fourth limit stop;

30-a stopper body; 31-arc contact groove; 32-fixing holes; 33-a first deformation groove; 34-a buffer spring; 35-a limiting column; 36-arc barrier groove; 37-second deformation groove; 38-mounting groove; 300 — a first end of a chock body; 301-the second end of the body.

Detailed Description

The present invention is further described in detail below with reference to examples so that those skilled in the art can practice the invention with reference to the description.

It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.

As shown in fig. 1 to 5, the wrist joint assembly for upper limb exoskeleton of the present embodiment includes a first rotation mechanism 1 and a second rotation mechanism 2;

the first rotating mechanism 1 comprises afirst motor 10, a firstrotating plate 11 in driving connection with an output shaft of thefirst motor 10, and a first connectingplate 12 fixedly connected with the other end of the firstrotating plate 11;

the second rotating mechanism 2 comprises asecond motor 20 fixedly connected to the first connectingplate 12, a secondrotating plate 21 in driving connection with an output shaft of thesecond motor 20, and ahandle 23 arranged on the secondrotating plate 21;

thefirst motor 10 is used for driving the first connectingplate 12 to rotate around the X axis, and thesecond motor 20 is used for driving the second connectingplate 22 to rotate around the Z axis, so that when a user holds thehandle 23 by a palm, passive training of ulnar bending/radial bending movement of the wrist joint can be realized through the first rotating mechanism 1, and passive training of dorsiflexion/palmar bending movement of the wrist joint can be realized through the second rotating mechanism 2.

The secondrotating plate 21 is fixedly connected with a second connectingplate 22, thehandle 23 is rotatably connected to the second connectingplate 22, and the central axis of thehandle 23 is parallel to the Z axis.

The wrist joint assembly for the upper limb exoskeleton can be used as an independent module, can also be applied to the upper limb exoskeleton and is used for assisting patients with upper limb wrist joint disorder or limited functions to perform passive rehabilitation training with two degrees of freedom of wrist joint ulnar flexion/radial flexion, dorsiflexion/palmar flexion.

In this embodiment, amounting plate 19 is further fixed to a side of thefirst motor 10, and themounting plate 19 is fixed to an external fixed end. When the wrist bending device is used, the palm of a patient holds thehandle 23, thefirst motor 10 works to drive the first rotatingplate 11 and the second rotating mechanism 2 on the first rotatingplate 11 to integrally rotate around the X axis, and therefore the wrist of the patient is driven to do ulnar bending/radial bending passive motion; thesecond motor 20 is operated to drive the second rotatingplate 21 to rotate around the Z-axis, so as to drive the wrist of the patient to perform passive motion of dorsiflexion/palmar flexion. Thereby realizing the passive rehabilitation training of the wrist joint of the patient in two degrees of freedom of ulnar flexion/radial flexion, dorsiflexion/palmar flexion.

Wherein, the firstrotating plate 11 comprises arectangular part 13 in the middle and twosemicircular parts 14 at two ends of therectangular part 13; afirst limit stop 17 and asecond limit stop 18 are fixedly connected to thefirst motor 10 at intervals; thefirst limit stopper 17 can limit the limit position of the firstrotating plate 11 rotating in the first direction around the X axis by blocking thefirst side 15 of therectangular portion 13;

thesecond limit stopper 18 can limit the limit position at which the firstrotating plate 11 rotates about the X axis in the second direction opposite to the first direction by blocking thesecond side 16 of therectangular portion 13.

Thefirst limit stop 17 provides a safety limit for the ulnar/radial flexion movement of the wrist joint, and thesecond limit stop 18 provides a safety limit for the dorsiflexion/palmar flexion movement of the wrist joint, so as to prevent the wrist joint from being damaged due to excessive rotation angle.

Wherein, the secondrotating plate 21 is circular, and the outer periphery thereof is protruded outwards to form a blockingpart 24; athird limit stop 27 and afourth limit stop 28 are fixedly connected to thesecond motor 20 at intervals, and thethird limit stop 27 and thefourth limit stop 28 are positioned at two sides of theblocking portion 24; thethird limit stopper 27 can limit the limit position of the second rotatingplate 21 rotating in the third direction around the Z axis by stopping the first side 25 of thestopper 24; thefourth limit stopper 28 can limit the limit position at which the secondrotating plate 21 rotates about the Z axis in the fourth direction opposite to the third direction by stopping thesecond side 26 of thestopper 24.

In one embodiment, referring to fig. 6, thefirst limit stopper 17, thesecond limit stopper 18, thethird limit stopper 27 and thefourth limit stopper 28, which are used as limiting means, have the same structure and each include astopper body 30, an arc-shapedcontact groove 31 formed on the inner side surface of thestopper body 30, and a fixinghole 32 formed at thefirst end 300 of thestopper body 30; a fixing piece for fixedly connecting thestopper body 30 to the outer wall of thefirst motor 10 or thesecond motor 20 is arranged in the fixinghole 32;

the arc-shapedcontact groove 31 is used for contacting with the cylindrical outer wall of thefirst motor 10 or thesecond motor 20, and thesecond end 301 of thestopper body 30 is used for stopping therectangular part 13 or the stoppingpart 24. The fixing holes 32 are unthreaded holes, threaded holes corresponding to the positions of the fixing holes 32 are formed in the outer walls of thefirst motor 10 and thesecond motor 20, and the fixing pieces are screws capable of penetrating through the unthreaded holes and being connected in the threaded holes in a threaded mode.

Namely, thefirst end 300 of thechock body 30 is fixedly connected to the cylindrical outer wall of thefirst motor 10 or thesecond motor 20, and thechock body 30 can be attached to the cylindrical outer wall of the motors for connection by arranging the arc-shapedcontact groove 31; the screw is threaded into the threaded hole after passing through the fixinghole 32, so that thestopper body 30 is fixedly connected to the motor. Thesecond end 301 of thestopper body 30 is used to limit the 2 limit rotation positions of the firstrotating plate 11 and the secondrotating plate 21, and the detailed description will be given by taking the limit of the firstrotating plate 11 as an example. Referring to fig. 3-5, in fig. 3, the first rotating plate 11 is in a vertical state, when the first rotating plate rotates counterclockwise, a gap is formed between the arc-shaped contact groove 31 of the stopper body 30 and the semicircular portion 14 of the first rotating plate 11, the stopper body 30 has no blocking effect on the semicircular portion 14, and the semicircular portion 14 can rotate relative to the stopper body 30, and referring to fig. 4, when the connection position between the right end of the semicircular portion 14 and the rectangular portion 13 rotates to the stopper body 30 of the first limit stopper 17, the rectangular portion 13 is blocked by the stopper body 30 of the first limit stopper 17 and cannot rotate, so that the maximum counterclockwise rotation angle of the first rotating plate 11 is limited to α; similarly, when the first rotating plate 11 rotates clockwise, referring to fig. 5, when the connection position between the left end of the semicircular portion 14 and the rectangular portion 13 rotates to the stopper body 30 of the second limit stopper 18, the rectangular portion 13 is stopped by the stopper body 30 of the second limit stopper 18 and cannot rotate, so that the maximum angle of clockwise rotation of the first rotating plate 11 is limited to β.

In the case of the secondrotating plate 21, when the secondrotating plate 21 rotates in the forward and reverse directions to make the blockingportion 24 contact with thethird limit stop 27 and thefourth limit stop 28, respectively, the two limit rotation positions of the secondrotating plate 21 are defined, that is, the blockingportion 24 can only rotate between thethird limit stop 27 and thefourth limit stop 28.

In another embodiment, referring to FIGS. 7-8, thechock body 30 includes a cushioning mechanism that cushions the impact of a crash with therectangular portion 13 or thestop portion 24 during operation, i.e., reduces the risk of injury or discomfort from a rigid crash impacting the wrist when the mechanism is rotated to a certain limit, and also reduces damage to the structure caused by the rigid crash. Specifically, in this embodiment, the middle of thesecond end 301 of thechock body 30 is provided with afirst deformation groove 33, and the width of thefirst deformation groove 33 gradually decreases from thesecond end 301 of thechock body 30 to thefirst end 300 of thechock body 30;

thefirst deformation groove 33 does not penetrate thestopper body 30 in the longitudinal direction, and thefirst deformation groove 33 penetrates thestopper body 30 in the thickness direction;

the direction from thesecond end 301 of thestopper body 30 to thefirst end 300 of thestopper body 30 is the longitudinal direction of thestopper body 30, and the opening direction of the fixinghole 32 is the thickness direction of thestopper body 30.

Further, abuffer spring 34 is connected between two inner walls of thefirst deformation groove 33, and alimit column 35 is fixedly connected to one of the inner walls of thefirst deformation groove 33. Thefirst deforming groove 33 is further provided at both inner walls thereof with mountinggrooves 38, and thebuffer spring 34 is coupled in the mountinggrooves 38.

Arc-shaped stoppinggrooves 36 are formed in the two side faces, which are used for being in contact with therectangular portion 13 or the stoppingportion 24, of thesecond end 301 of thestopper body 30. The arc-shaped stoppinggroove 36 may be provided with a rubber layer on the surface thereof to provide buffer protection and reduce the collision between thestopper body 30 and the stopping mechanism.

The arc-shapedblocking groove 36 of thestopper body 30 is folded toward the middlefirst deformation groove 33 when being acted by external force, thebuffer spring 34 is compressed, and when the buffer spring is contracted to the limit position, the limitingcolumn 35 on one inner wall of thefirst deformation groove 33 is contacted with the other inner wall of thefirst deformation groove 33.

The operation principle of the damper mechanism in thestopper body 30 in the present embodiment will be described below by taking the contact between thestopper body 30 and thestopper portion 24 as an example. For example, when the secondrotating plate 21 rotates to a limit position, the arc-shaped stoppinggroove 36 on the right side of thesecond end 301 of thechock body 30 contacts with the stoppingportion 24, and since thefirst deformation groove 33 is formed in the middle of thesecond end 301 of thechock body 30, and the width of thefirst deformation groove 33 gradually decreases toward the inside of thechock body 30, thechock bodies 30 on both sides of thefirst deformation groove 33 have certain elasticity, and will bend toward the middle when being stressed; at this time, thestopper body 30 on the right side of thefirst deformation groove 33 is bent and folded towards the middle by the blocking force of the blockingportion 24 until the right side of the limitingcolumn 35 abuts against the inner wall on the right side of thefirst deformation groove 33, so that the impact force between the two is buffered through elastic deformation; further, the dampingspring 34 is now compressed, providing further damping. After the stopping force of the stoppingportion 24 disappears, thestopper body 30 on the right side of thefirst deformation groove 33 is reset to the right, at this time, thebuffer spring 34 also has a right elastic force effect on thestopper body 30 on the right side of thefirst deformation groove 33, so that the reset of thestopper body 30 can be assisted, thestopper body 30 is restored to elastic deformation, and thestopper body 30 can maintain a good impact buffering effect for a long time. In this embodiment, the limitingcolumns 35 are provided to control the bending deformation of thestopper body 30 at both sides of thefirst deformation groove 33 within a certain allowable range, and to ensure that the rotating plate does not exceed the safety limiting range within the allowable bending deformation range.

In a further embodiment, the middle of thearc contact groove 31 opens with asecond deformation groove 37 toward the inside of thestopper body 30. Thesecond deformation groove 37 is provided, so that thestopper body 30 at both ends of thesecond deformation groove 37 can be deformed and bent to a certain extent toward the middle or away from the middlesecond deformation groove 37, thereby enabling thearc contact groove 31 to adapt to cylindrical surfaces with different curvatures within a certain range. For example, when the curvature of the cylindrical outer wall surface of the installed motor is slightly increased, since thestopper bodies 30 at both ends of thesecond deformation groove 37 can be bent away from the middlesecond deformation groove 37, so that the curvature of thearc contact groove 31 is increased, and can still be attached to the cylindrical outer wall of the motor in a fitting manner.

While embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields of application of the invention, and further modifications may readily be effected by those skilled in the art, so that the invention is not limited to the specific details without departing from the general concept defined by the claims and the scope of equivalents.

Claims (10)

Translated fromChinese

1.一种上肢外骨骼用腕关节组件，其特征在于，包括第一旋转机构和第二旋转机构；1. A wrist joint assembly for upper limb exoskeleton, characterized in that, comprising a first rotation mechanism and a second rotation mechanism;所述第一旋转机构包括第一电机、与所述第一电机的输出轴驱动连接的第一旋转板以及与所述第一旋转板的另一端固接的第一连接板；The first rotating mechanism includes a first motor, a first rotating plate drivingly connected with the output shaft of the first motor, and a first connecting plate fixedly connected with the other end of the first rotating plate;所述第二旋转机构包括固接在所述第一连接板上的第二电机、与所述第二电机的输出轴驱动连接的第二旋转板以及设置在所述第二旋转板上的把手；The second rotating mechanism includes a second motor fixed on the first connecting plate, a second rotating plate drivingly connected with the output shaft of the second motor, and a handle arranged on the second rotating plate ;所述第一电机用于驱动所述第一连接板绕X轴转动，所述第二电机用于驱动所述第二连接板绕Z轴转动，从而在使用者手掌握住所述把手时，通过所述第一旋转机构能实现腕关节的尺屈/桡屈运动的被动训练，通过所述第二旋转机构能实现腕关节的背屈/掌屈运动的被动训练。The first motor is used to drive the first connecting plate to rotate around the X axis, and the second motor is used to drive the second connecting plate to rotate around the Z axis, so that when the user holds the handle, The passive training of the ulnar flexion/radial flexion of the wrist joint can be achieved through the first rotation mechanism, and the passive training of the dorsiflexion/palm flexion of the wrist joint can be achieved through the second rotation mechanism.2.根据权利要求1所述的上肢外骨骼用腕关节组件，其特征在于，所述第一旋转板包括位于中间的矩形部以及位于所述矩形部两端的两个半圆形部；2 . The wrist joint assembly for an upper limb exoskeleton according to claim 1 , wherein the first rotating plate comprises a rectangular portion located in the middle and two semicircular portions located at both ends of the rectangular portion; 3 .所述第一电机上间隔固接有第一限位挡块和第二限位挡块；A first limit stop and a second limit stop are fixed on the first motor at intervals;所述第一限位挡块通过对所述矩形部的第一侧进行阻挡，能够实现对所述第一旋转板绕X轴朝第一方向转动的极限位置进行限位；By blocking the first side of the rectangular portion, the first limit stopper can limit the limit position of the rotation of the first rotating plate around the X-axis in the first direction;所述第二限位挡块通过对所述矩形部的第二侧进行阻挡，能够实现对所述第一旋转板绕X轴朝与所述第一方向相反的第二方向转动的极限位置进行限位。By blocking the second side of the rectangular portion, the second limit stopper can realize the limit position of the rotation of the first rotating plate around the X-axis in the second direction opposite to the first direction. limit.3.根据权利要求2所述的上肢外骨骼用腕关节组件，其特征在于，所述第二旋转板为圆形，其外周边沿向外凸出形成有阻挡部；3 . The wrist joint assembly for upper limb exoskeleton according to claim 2 , wherein the second rotating plate is circular, and the outer periphery thereof is formed with a blocking portion protruding outwards; 4 .所述第二电机上间隔固接有第三限位挡块和第四限位挡块，且所述第三限位挡块和第四限位挡块处于所述阻挡部两侧；The second motor is fixed with a third limit block and a fourth limit block at intervals, and the third limit block and the fourth limit block are located on both sides of the blocking portion;所述第三限位挡块通过对所述阻挡部的第一侧进行阻挡，能够实现对所述第二旋转板绕Z轴朝第三方向转动的极限位置进行限位；By blocking the first side of the blocking portion, the third limiting block can limit the limit position where the second rotating plate rotates around the Z-axis toward the third direction;所述第四限位挡块通过对所述阻挡部的第二侧进行阻挡，能够实现对所述第二旋转板绕Z轴朝与所述第三方向相反的第四方向转动的极限位置进行限位。By blocking the second side of the blocking portion, the fourth limit stopper can realize the limit position of the rotation of the second rotating plate around the Z axis in the fourth direction opposite to the third direction. limit.4.根据权利要求3所述的上肢外骨骼用腕关节组件，其特征在于，所述第一限位挡块、第二限位挡块、第三限位挡块和第四限位挡块结构相同，均包括挡块本体、开设在所述挡块本体的内侧表面的弧形接触凹槽以及开设在所述挡块本体的第一端的固定孔；所述固定孔内设置有用于将所述挡块本体固接在所述第一电机或第二电机的外壁上的固定件；4 . The wrist joint assembly for upper limb exoskeleton according to claim 3 , wherein the first limit stop, the second limit stop, the third limit stop and the fourth limit stop The structure is the same, including a stopper body, an arc-shaped contact groove opened on the inner surface of the stopper body, and a fixing hole opened at the first end of the stopper body; the block body is fixedly connected to the fixing member on the outer wall of the first motor or the second motor;所述弧形接触凹槽用于与所述第一电机或第二电机的柱状外壁接触，所述挡块本体的第二端用于阻挡所述矩形部或阻挡部。The arc-shaped contact groove is used for contacting with the cylindrical outer wall of the first motor or the second motor, and the second end of the block body is used for blocking the rectangular part or the blocking part.5.根据权利要求4所述的上肢外骨骼用腕关节组件，其特征在于，所述固定孔为光孔，所述第一电机和第二电机的外壁上均开设有与所述固定孔位置对应的螺纹孔，所述固定件为可穿过所述光孔以螺纹连接在所述螺纹孔中的螺丝。5 . The wrist joint assembly for upper limb exoskeleton according to claim 4 , wherein the fixing hole is a light hole, and the outer walls of the first motor and the second motor are both provided with a position corresponding to the fixing hole. 6 . A threaded hole, and the fixing member is a screw that can pass through the optical hole to be screwed into the threaded hole.6.根据权利要求4所述的上肢外骨骼用腕关节组件，其特征在于，所述挡块本体的第二端的中部开设有第一形变槽，沿所述挡块本体的第二端向所述挡块本体的第一端，所述第一形变槽的宽度逐渐变小；6 . The wrist joint assembly for upper limb exoskeleton according to claim 4 , wherein a first deformation groove is formed in the middle of the second end of the block body, and a first deformation groove is formed along the second end of the block body. 7 . At the first end of the block body, the width of the first deformation groove gradually decreases;所述第一形变槽沿长度方向不贯通所述挡块本体，所述第一形变槽沿厚度方向贯通所述挡块本体；The first deformation groove does not penetrate the block body along the length direction, and the first deformation groove penetrates the block body along the thickness direction;其中，沿所述挡块本体的第二端向所述挡块本体的第一端为所述挡块本体的长度方向，所述固定孔的开设方向为所述挡块本体的厚度方向。Wherein, from the second end of the stopper body to the first end of the stopper body is the length direction of the stopper body, and the opening direction of the fixing hole is the thickness direction of the stopper body.7.根据权利要求6所述的上肢外骨骼用腕关节组件，其特征在于，所述第一形变槽的两内壁之间连接有缓冲弹簧，所述第一形变槽的其中一个内壁上固接有限位柱。7 . The wrist joint assembly for upper limb exoskeleton according to claim 6 , wherein a buffer spring is connected between the two inner walls of the first deformation groove, and one of the inner walls of the first deformation groove is fixedly connected to the inner wall. 8 . limited column.8.根据权利要求7所述的上肢外骨骼用腕关节组件，其特征在于，所述挡块本体的第二端的用于与所述矩形部或阻挡部接触的两侧面上均开设有弧形阻挡凹槽。8 . The wrist joint assembly for an upper limb exoskeleton according to claim 7 , wherein arc shapes are provided on both sides of the second end of the block body for contacting the rectangular portion or the blocking portion. 9 . Block grooves.9.根据权利要求4所述的上肢外骨骼用腕关节组件，其特征在于，所述弧形接触凹槽中部朝向所述挡块本体的内部开设有第二形变槽。9 . The wrist joint assembly for upper extremity exoskeleton according to claim 4 , wherein a second deformation groove is opened in the middle of the arc-shaped contact groove toward the inside of the block body. 10 .10.根据权利要求1所述的上肢外骨骼用腕关节组件，其特征在于，所述第二旋转板上固接有第二连接板，所述把手可转动连接在所述第二连接板上，且所述把手的中轴线与Z轴平行。10 . The wrist joint assembly for upper limb exoskeleton according to claim 1 , wherein a second connecting plate is fixedly connected to the second rotating plate, and the handle is rotatably connected to the second connecting plate. 11 . , and the central axis of the handle is parallel to the Z axis.

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