Four-DOF (degree of freedom) rehabilitation training robot with adjustable posture

Abstract

The invention discloses a four-DOF (degree of freedom) rehabilitation training robot with adjustable posture, which comprises a lifting base, a U-shaped frame and a motion output assembly, wherein the U-shaped frame is positioned above the lifting base, and the U-shaped frame is rotationally connected with the lifting base through a first rotating mechanism; the motion output assembly is rotationally connected with the U-shaped frame through a second rotating mechanism; the first rotating mechanism comprises a first bracket arranged on the lifting base and a first worm wheel and a first worm arranged on the first bracket, wherein a second step motor is arranged on the first bracket, the output shaft of the second step motor is connected with the first worm, a turntable is arranged on a first rotating shaft connected with the first worm wheel, and the turntable is connected with the U-shaped frame; and the second rotating mechanism comprises a second worm wheel and a second worm arranged on the U-shaped frame and engaged mutually, a third step motor and left and right rotating shafts coaxially arranged with the second worm wheel, wherein the output shaft of the third step motor is connected with the second worm, and a second rotating shaft connected with the second worm wheel is connected with the right rotating shaft.

Description

technical field [0001] The invention relates to a rehabilitation training robot applicable to rehabilitation patients whose limb motor functions are lost or declined due to various situations, especially a four-degree-of-freedom rehabilitation training robot with adjustable posture. Background technique [0002] For patients with stroke sequelae, rehabilitation training for their hemiplegia is a critical and important medical method. Early rehabilitation training can significantly reduce the possibility of disability. In the traditional rehabilitation treatment in China, the therapist usually conducts monotonous one-on-one rehabilitation training to the patient hand in hand. There is a lack of objective data to scientifically evaluate the training parameters and rehabilitation effect, and it is difficult to optimize the training parameters to obtain the best treatment effect. Therefore, it is of great application value and practical urgency to apply robot technology to the f...

AI Technical Summary

Problems solved by technology

[0004] At present, most domestic multi-degree-of-freedom rehabilitation robots use complex mechanical structures to achieve multi-joint and multi-degree-of-freedom training. The control is comp

Images