Interchangeable, singularity-avoiding, seven-degree-of-freedom robot for rehabilitation of exoskeletons of upper limbs
A rehabilitation robot and exoskeleton technology, applied in passive exercise equipment, physical therapy and other directions, can solve the problems of inconvenient movement of the overall mechanism, mismatched degrees of freedom, and inconvenient wearing.
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[0020] The present invention will be further introduced below in conjunction with the accompanying drawings and specific embodiments.
[0021] combine Figure 1-3 , an interchangeable and singularity-avoiding seven-degree-of-freedom upper limb exoskeleton rehabilitation robot of the present invention, including a shoulder joint base 1, a first driving mechanism 2, a shoulder joint connecting rod 3, a second driving mechanism 4, a large arm connecting rod Rod 5, the third drive mechanism 7, the first semicircular guide rail 8, the fourth drive mechanism 9, the forearm link 10, the fifth drive mechanism 12, the second semicircular guide rail 13, the sixth drive mechanism 14, the wrist Joint connecting rod 15, seventh driving mechanism 16, hand connecting rod 17, grip 20;
[0022] The shoulder joint base 1 includes a connected horizontal bar 1-1 and an oblique bar 1-2; an included angle is provided between the oblique bar 1-2 and the horizontal bar 1-1, and the oblique bar 1-2 i...
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