A rehabilitation robot

Abstract

The present invention relates to a rehabilitation robot, which includes a mounting seat, a motion training module and a height adjustment module respectively mounted on the mounting seat, and a clamping mechanism supported on the height adjustment module. The rehabilitation robot of the present invention is easy to adjust according to the height and limb length of different users, and the center of gravity of the rehabilitation robot of the present invention is located in front of the user, and there are open spaces on both sides and behind the user, which is convenient for the user to wear and use.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a rehabilitation robot. Background Art

[0002] Stroke patients are prone to motor disorder sequelae, that is, limb paralysis symptoms, after the onset of the disease. Traditional rehabilitation treatment methods include rehabilitation physicians massaging or assisting patients in exercising for rehabilitation treatment, or patients using rehabilitation equipment to exercise on their own to achieve rehabilitation treatment. However, the cost of rehabilitation through manual assisted treatment is high, and the uniformity of treatment effects cannot be guaranteed. The method of using rehabilitation equipment for treatment usually uses an exoskeleton to bind the patient's limbs, and then conducts passive or active movement training to achieve the purpose of rehabilitation. Since each patient has different height and limb lengths, existing rehabilitation equipment often designs complex exoskeleton length adjustment structures to achieve exoskeleton length adjustment to adapt to different patients. The adjustment is more troublesome and the structure is relatively complex, making it inconvenient to use. Summary of the Invention

[0003] An object of the present invention is to provide a rehabilitation robot that can support patients of different body shapes and can also be used by patients with low mobility, has a simple structure and is easy to use.

[0004] The present invention provides a rehabilitation robot, comprising:

[0005] Mounting seat;

[0006] A motion training module, comprising a drive assembly disposed on the mounting seat and a conveyor belt assembly connected to the drive assembly, wherein the drive assembly is used to drive the conveyor belt assembly to rotate, and the conveyor belt assembly is used for allowing a user to perform walking motion training;

[0007] a height adjustment module comprising a vertical guide rail supported on the mounting seat, a slider slidably disposed on the vertical guide rail, and a driving member linked to the slider; and

[0008] A clamping mechanism, wherein the clamping mechanism is supported on the slider, and the driving member is used to drive the slider to move up and down along the slide rail, thereby adjusting the height of the clamping mechanism; the clamping mechanism includes a second driving assembly, two clamping arms linked to the second driving assembly, and badges respectively connected to the corresponding clamping arms, wherein the two badges are respectively used to clamp the two sides of the user's chest, and the second driving assembly is used to drive the two clamping arms to rotate relative to each other, thereby driving the corresponding badges to move via the two clamping arms to achieve clamping and release of the user's chest.

[0009] In one embodiment of the present invention, the clamping mechanism includes two mounting shafts supported on the slider, the clamping arm includes a movable arm rotatably mounted on the mounting shafts and a small arm rotatably mounted on the movable arm, and a return spring is installed between the movable arm and the small arm.

[0010] In one embodiment of the present invention, the clamping mechanism further comprises a rotating rod rotatably mounted vertically on the forearm, and the badge is mounted on the lower end of the rotating rod.

[0011] In one embodiment of the present invention, the clamping mechanism also includes two transverse guide rails respectively connected to the corresponding mounting shafts, two movable blocks respectively installed on the corresponding transverse guide rails, two limiting rails connected to the two movable blocks, and a rectangular block arranged between the two limiting rails, wherein the upper end of the rotating rod is passed through the rectangular block, and the rectangular block and the limiting rails are used to correct the direction of the rotating rod.

[0012] In one embodiment of the present invention, the second drive assembly includes two worm wheels respectively installed on the corresponding movable arms, a worm engaged with the two worm wheels, and a servo motor connected to the worm. The servo motor is used to drive the worm to rotate, and the worm is used to drive the two worm wheels to rotate, thereby linking the two movable arms and the small arm to rotate.

[0013] In one embodiment of the present invention, the clamping mechanism also includes a power-off protection module, which includes a mounting slot arranged on the movable arm, a contact No. 1 slidably installed in the mounting slot, a spring installed on the contact No. 1, a sliding rod inserted in the spring and connected to the contact No. 1, a pull rope with two ends respectively connected to the sliding rod and the forearm, and a contact No. 2 installed in the mounting slot, wherein when the clamping pressure of the forearm is too large, the forearm pulls the sliding rod through the pull rope, thereby separating the contact No. 1 from the contact No. 2 to achieve power off, thereby preventing excessive compression on the user's chest.

[0014] In one embodiment of the present invention, the driving member is a telescopic cylinder, the output shaft of the telescopic cylinder is connected to the slider, and the telescopic cylinder telescopically moves, thereby driving the clamping mechanism to move up and down via the slider, thereby adjusting the height of the clamping mechanism, so that the rehabilitation robot can be suitable for supporting users of different heights.

[0015] In one embodiment of the present invention, an armpit groove is provided at the upper end of the badge, and the armpit groove is provided in an arc-shaped structure.

[0016] In one embodiment of the present invention, the clamping mechanism further includes a support frame connected to the mounting shaft and used to support the servo motor.

[0017] In one embodiment of the present invention, the conveyor belt assembly includes a support platform installed on the mounting seat, an active roller and a passive roller respectively located on both sides of the support platform and installed on the mounting seat, a conveyor belt arranged on the active roller and the passive roller, and two rows of training blocks staggered on the conveyor belt.

[0018] In one embodiment of the present invention, the driving assembly includes a power motor mounted on the mounting seat, a No. 1 pulley connected to the power motor, a No. 2 pulley mounted on the active roller, and a belt arranged on the No. 1 pulley and the No. 2 pulley, wherein the power motor is used to drive the No. 1 pulley to rotate, the No. 1 pulley is used to drive the No. 2 pulley and the active roller to rotate via the belt, and the active roller is used to drive the passive roller to rotate via the conveyor belt.

[0019] In one embodiment of the present invention, the training block includes a mounting block mounted on the transmission belt, a mixing bar inserted into the mounting block, and an elastic member sleeved on the mixing bar, wherein both ends of the elastic member are respectively connected to the mixing bar and the mounting block.

[0020] In one embodiment of the present invention, the motion training module also includes a passive motion unit, which includes a mounting tube arranged on a side of the mounting seat where the driving component is arranged, an elastic rope arranged in the mounting tube, a strap connected to the elastic rope, and a lower pressure rail arranged at an end of the mounting seat away from the driving component, wherein the lower pressure rail is an arc-shaped structure, and the end of the lower pressure rail close to the training block is higher than the height of the training block, and the end away from the training block is lower than the height of the training block.

[0021] In one embodiment of the present invention, the rehabilitation robot further comprises a control panel arranged on a side of the vertical slide rail, and the control panel is used to control the operation of the telescopic cylinder, the power motor, and the servo motor.

[0022] The present invention has the following beneficial effects:

[0023] (1) The rehabilitation robot can adjust the height of the clamping mechanism through the cooperation of the telescopic cylinder, the vertical slide rail, and the slider, so that the rehabilitation robot can be suitable for users of different heights. In addition, the adjustment structure and adjustment method are simple, which facilitates the use of the rehabilitation robot.

[0024] (2) The rehabilitation robot drives the two clamping arms to rotate through the structure of the servo motor and the worm gear set to adjust the clamping range of the two badges, so that it can be suitable for clamping users of different body shapes;

[0025] (3) The rehabilitation robot is provided with the power-off protection module on the clamping mechanism, which can avoid excessive clamping force on the user and ensure the comfort of the clamping support. In addition, the power-off protection is achieved by separating the two contacts by driving the pull rope with the forearm, which is simple and convenient to implement.

[0026] (4) The rehabilitation robot is provided with a motion training module for the user to actively exercise, and is also provided with a passive motion unit, which can meet the needs of patients with different mobility abilities;

[0027] (5) The center of gravity of the rehabilitation robot is located in front of the user, and there are open spaces on both sides and behind the user, which is convenient for the user to wear and use.

[0028] Further objects and advantages of the present invention will be fully apparent from an understanding of the following description and accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic cross-sectional view of the rehabilitation robot according to a preferred embodiment of the present invention.

[0030] Figure 2 This is a schematic cross-sectional view of the back of the rehabilitation robot according to the above preferred embodiment of the present invention.

[0031] Figure 3 This is a partial top view of the rehabilitation robot according to the above preferred embodiment of the present invention.

[0032] Explanation of the accompanying drawings: rehabilitation robot 100; mounting base 10; motion training module 20; drive assembly 21; power motor 211; first pulley 212; second pulley 213; belt 214; conveyor belt assembly 22; support platform 221; active roller 222; passive roller 223; conveyor belt 224; training block 225; mounting block 2251; mixing strip 2252; elastic member 2253; passive motion unit 23; mounting tube 231; elastic rope 232; strap 233; lower pressure rail 234; locking bolt 235; height adjustment module 30; vertical guide rail 31; slider 32; drive member 33; clamping mechanism 40; second drive assembly 41; worm gear 411; worm 412; servo motor 413; clamping arm 42; movable arm 421; forearm 422; return spring 423; badge 43; armpit groove 431; mounting shaft 44; rotating rod 45; transverse guide rail 46; movable block 47; limiting rail 48; rectangular block 49; support frame 50; power-off protection module 60; mounting slot 61; contact number 1 62; spring 63; slide rod 64; pull rope 65; contact number 2 66; control panel 70. DETAILED DESCRIPTION

[0033] The following description is intended to disclose the present invention and enable those skilled in the art to implement the present invention. The preferred embodiments described below are provided for illustrative purposes only, and those skilled in the art will readily appreciate other obvious variations. The basic principles of the present invention defined in the following description may be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.

[0034] Those skilled in the art should understand that, in the disclosure of the present invention, the terms "vertical", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0035] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the elements may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0036] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections, or mutual communication; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0037] like Figures 1 to 3 As shown, the specific structure of a rehabilitation robot 100 according to a preferred embodiment of the present invention is explained.

[0038] like Figure 1 and Figure 2 As shown, the rehabilitation robot 100 includes a mounting seat 10 , a motion training module 20 and a height adjustment module 30 respectively mounted on the mounting seat 10 , and a clamping mechanism 40 supported on the height adjustment module 30 .

[0039] Specifically, the motion training module 20 includes a driving assembly 21 arranged on the mounting seat 10 and a conveyor belt assembly 22 connected to the driving assembly 21, the driving assembly 21 is used to drive the conveyor belt assembly 22 to rotate, and the conveyor belt assembly 22 is used for the user to perform walking motion training.

[0040] Specifically, the height adjustment module 30 includes a vertical guide rail 31 supported on the mounting base 10 , a slider 32 slidably disposed on the vertical guide rail 31 , and a driving member 33 linked to the slider 32 .

[0041] Specifically, the clamping mechanism 40 is supported on the slider 32 , and the driving member 33 is used to drive the slider 32 to move up and down along the slide rail, thereby adjusting the height of the clamping mechanism 40 .

[0042] Optionally, the driving member 33 is a motor or a telescopic cylinder. In this preferred embodiment, the driving member 33 is a telescopic cylinder. The output shaft of the telescopic cylinder is connected to the slider 32. The telescopic cylinder telescopically moves, thereby driving the clamping mechanism 40 to move up and down via the slider 32, thereby adjusting the height of the clamping mechanism 40, so that the rehabilitation robot 100 can be suitable for supporting users of different heights.

[0043] Specifically, the clamping mechanism 40 includes a second drive component 41, two clamping arms 42 linked to the second drive component 41, and badges 43 respectively connected to the corresponding clamping arms 42, wherein the two badges 43 are respectively used to clamp the two sides of the user's chest, and the second drive component 41 is used to drive the two clamping arms 42 to rotate relative to each other, thereby driving the corresponding badges 43 to move through the two clamping arms 42, thereby achieving clamping and release of the user's chest.

[0044] It can be understood that the rehabilitation robot 100 can adjust the height of the clamping mechanism 40 through the height adjustment module 30, and drive the two clamping arms 42 to rotate through the second drive component 41, so as to achieve the adjustment of the clamping range between the two badges 43. In this way, the rehabilitation robot 100 has both height adjustment and clamping range adjustment functions, and can be suitable for users of different body shapes.

[0045] Furthermore, the clamping mechanism 40 includes two mounting shafts 44 supported on the slider 32, and the clamping arm 42 includes a movable arm 421 rotatably mounted on the mounting shaft 44 and a small arm 422 rotatably mounted on the movable arm 421, and a return spring 423 is installed between the movable arm 421 and the small arm 422.

[0046] Moreover, the clamping mechanism 40 further includes a rotating rod 45 rotatably mounted vertically on the small arm 422 , and the badge 43 is mounted on the lower end of the rotating rod 45 . In other words, the badge 43 is connected to the corresponding small arm 422 via the corresponding rotating rod 45 .

[0047] It is worth mentioning that an armpit groove 431 is provided at the upper end of the badge 43, and the armpit groove 431 is set as an arc structure, so that the badge 43 can fit the user's chest and be clamped and supported under the user's armpit, making it convenient to clamp and support patients with reduced mobility through the clamping mechanism 40.

[0048] It is also worth mentioning that in some embodiments of the present invention, in order to improve the comfort of clamping, the arc-shaped upper end of the badge 43 may also be provided with a cushion, such as a cushioning sponge or other structure, and the present invention does not limit this.

[0049] Furthermore, the clamping mechanism 40 also includes two transverse guide rails 46 respectively connected to the corresponding mounting shafts 44, two movable blocks 47 respectively installed on the corresponding transverse guide rails 46, two limiting rails 48 connected to the two movable blocks 47, and a rectangular block 49 arranged between the two limiting rails 48, wherein the upper end of the rotating rod 45 is passed through the rectangular block 49, and the rectangular block 49 and the limiting rail 48 are used to correct the direction of the rotating rod 45.

[0050] More specifically, if Figure 3 As shown, the second drive assembly 41 includes two worm gears 411 respectively installed on the corresponding movable arms 421, a worm 412 engaged with the two worm gears 411, and a servo motor 413 connected to the worm 412. The servo motor 413 is used to drive the worm 412 to rotate, and the worm 412 is used to drive the two worm gears 411 to rotate, thereby linking the two movable arms 421 and the small arms 422 to rotate. The two small arms 422 drive the two badges 43 to move closer to or away from each other via the rotating rod 45, thereby clamping and releasing the user's chest.

[0051] It is worth mentioning that the clamping mechanism 40 further includes a support frame 50 connected to the mounting shaft 44 and used for supporting the servo motor 413 .

[0052] In particular, in order to prevent the clamping mechanism 40 from exerting too much clamping force on the user's chest, the clamping mechanism 40 is further provided with a power-off protection module 60, which includes a mounting slot 61 provided on the movable arm 421, a contact No. 1 62 slidably installed in the mounting slot 61, a spring 63 installed on the contact No. 1 62, a sliding rod 64 inserted in the spring 63 and connected to the contact No. 1 62, a pull rope 65 whose two ends are respectively connected to the sliding rod 64 and the small arm 422, and a contact No. 2 66 installed in the mounting slot 61. When the clamping pressure of the small arm 422 is too large, the small arm 422 pulls the sliding rod 64 through the pull rope 65, thereby separating the contact No. 1 62 from the contact No. 2 66 to achieve power off, thereby preventing excessive squeezing of the user's chest.

[0053] It can be understood that the contact No. 1 62 and the contact No. 2 66 can be respectively connected to the switch signal input end of the control panel 70 of the rehabilitation robot 100, or connected to the power circuit of the servo motor 413, that is, the contact No. 1 62 and the contact No. 2 66 can be used as a circuit switch to control the control panel 70 or a switch to control the circuit of the servo motor 413. When the contact No. 1 62 is in contact with the second contact, the circuit path of the servo motor 413 can be ensured to ensure normal operation. When the contact No. 1 62 is separated from the second contact, the circuit of the servo motor 413 can be cut off, so that the servo motor 413 stops working, avoids excessive compression on the patient's chest, and ensures the safe use of the rehabilitation robot 100.

[0054] Furthermore, the conveyor belt assembly 22 includes a support platform 221 installed on the mounting seat 10, an active roller 222 and a passive roller 223 located on both sides of the support platform 221 and installed on the mounting seat 10, a conveyor belt 224 arranged on the active roller 222 and the passive roller 223, and two rows of training blocks 225 staggered on the conveyor belt 224.

[0055] More specifically, the training block 225 includes a mounting block 2251 mounted on the transmission belt, a mixing bar 2252 inserted on the mounting block 2251, and an elastic member 2253 mounted on the mixing bar 2252, wherein the two ends of the elastic member 2253 are respectively connected to the mixing bar 2252 and the mounting block 2251, and the elastic member 2253 is preferably a spring.

[0056] Furthermore, the driving assembly 21 includes a power motor 211 installed on the mounting base 10, a No. 1 pulley 212 connected to the power motor 211, a No. 2 pulley 213 installed on the active roller 222, and a belt 214 arranged on the No. 1 pulley 212 and the No. 2 pulley 213, wherein the power motor 211 is used to drive the No. 1 pulley 212 to rotate, the No. 1 pulley 212 is used to drive the No. 2 pulley 213 and the active roller 222 to rotate via the belt 214, and the active roller 222 is used to drive the passive roller 223 to rotate via the conveyor belt 224.

[0057] It is worth mentioning that the rehabilitation robot 100 further includes a control panel 70 arranged on the side of the vertical slide rail, and the control panel 70 is used to control the operation of the telescopic cylinder, the power motor 211 and the servo motor 413.

[0058] In particular, the motion training module 20 also includes a passive motion unit 23, which includes a mounting tube 231 arranged on the side of the mounting seat 10 where the driving component 21 is provided, an elastic rope 232 arranged in the mounting tube 231, a strap 233 connected to the elastic rope 232, and a lower pressure rail 234 arranged at an end of the mounting seat 10 away from the driving component 21, wherein the lower pressure rail 234 is an arc-shaped structure, and the end of the lower pressure rail 234 close to the training block 225 is higher than the height of the training block 225, and the end away from the training block 225 is lower than the height of the training block 225.

[0059] It is worth mentioning that the passive motion unit 23 further includes a locking bolt 235 provided on the mounting tube 231 .

[0060] The working method of the rehabilitation robot 100 is as follows:

[0061] During operation, the user is first helped onto the conveyor belt 224 and the badge 43 is positioned under the armpit. The servo motor 413 is then controlled to drive the worm 412 to rotate. The rotation of the worm 412 drives the two worm wheels 411 to rotate. The rotation of the worm wheels 411 drives the movable arm 421, which in turn drives the small arm 422 to rotate. The small arm 422 rotates and drives the badge 43 to clamp the user's chest via the rotating rod 45. During this process, the limiting rail 48 cooperates with the rectangular block 49 to correct the direction of the rotating rod 45.

[0062] When the badge 43 just touches the sides of the user's chest, the telescopic cylinder is controlled to work and drive the slider 32 to move, thereby indirectly driving the badge 43 to move up and down, thereby adjusting the height according to the user's height;

[0063] When the height adjustment is completed, the power motor 211 is controlled to start working, and the power motor 211 drives the first pulley 212 to rotate. The first pulley 212 rotates and drives the second pulley 213 to rotate via the belt 214. The second pulley 213 rotates and drives the active roller 222 to rotate. The active roller 222 drives the passive roller 223 to rotate via the transmission belt, so that the transmission belt rotates.

[0064] When the user's legs can move independently, the telescopic cylinder drives the slider 32 to move, and then drives the user's feet to fit the conveyor belt 224 through the badge 43, and the user moves in coordination with the conveyor belt 224.

[0065] When the user's legs are unable to move on their own, the user needs to wear shoes in advance. The shoes are preferably made of a sole material with a smooth bottom surface. The strap 233 is tied to the user's ankle, and the user's position is adjusted by the telescopic cylinder and the clamping mechanism 40 so that the user's sole corresponds to the position of the mixing strip 2252. Then, when the conveyor belt 224 moves, the mixing strip 2252 moves the user's foot backward. When the mixing strip 2252 moves to contact the lower pressure rail 234, the mixing strip 2252 moves downward and then separates from the user's foot. Then, the user's calf and foot move forward under the action of the elastic rope 232 and the strap 233, and the two rows of staggered mixing strips 2252 are coordinated to achieve a forward and backward movement of the leg similar to walking, which helps the user's recovery and is conducive to the stretching of the user's bent leg.

[0066] It is understood that, compared with the prior art, the present invention has the following beneficial effects:

[0067] (1) The rehabilitation robot 100 can adjust the height of the clamping mechanism 40 through the cooperation of the telescopic cylinder, the vertical slide rail, and the slider 32, so that the rehabilitation robot 100 can be suitable for users of different heights. In addition, the adjustment structure and adjustment method are simple, which facilitates the use of the rehabilitation robot 100.

[0068] (2) The rehabilitation robot 100 drives the two clamping arms 42 to rotate by means of the structure of the servo motor 413 and the worm gear 411 to adjust the clamping range of the two badges 43, so as to be suitable for clamping users of different body shapes;

[0069] (3) The rehabilitation robot 100 is provided with the power-off protection module 60 on the clamping mechanism 40, which can avoid excessive clamping force on the user and ensure the comfort of the clamping support. In addition, the power-off protection is achieved by driving the pull rope 65 by the small arm 422 to separate the two contacts, which is simple and convenient to implement.

[0070] (4) The rehabilitation robot 100 is provided with a motion training module 20 for active exercise by the user, and is also provided with a passive motion unit 23, which can meet the needs of patients with different mobility abilities;

[0071] (5) The center of gravity of the rehabilitation robot 100 is located in front of the user, and there are open spaces on both sides and behind the user, which is convenient for the user to wear and use.

[0072] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0073] The above embodiments merely represent preferred embodiments of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A rehabilitation robot, characterized in that: include: Mounting seat; A motion training module, comprising a drive assembly disposed on the mounting seat and a conveyor belt assembly connected to the drive assembly, wherein the drive assembly is used to drive the conveyor belt assembly to rotate, and the conveyor belt assembly is used for allowing a user to perform walking motion training; a height adjustment module comprising a vertical guide rail supported on the mounting seat, a slider slidably disposed on the vertical guide rail, and a driving member linked to the slider; as well as A clamping mechanism, wherein the clamping mechanism is supported on the slider, and the driving member is used to drive the slider to move up and down along the vertical guide rail, thereby adjusting the height of the clamping mechanism; the clamping mechanism includes a second driving assembly, two clamping arms linked to the second driving assembly, and badges respectively connected to the corresponding clamping arms, wherein the two badges are respectively used to clamp the two sides of the user's chest, and the second driving assembly is used to drive the two clamping arms to rotate relative to each other, thereby driving the corresponding badges to move via the two clamping arms to achieve clamping and release of the user's chest; The clamping mechanism includes two mounting shafts supported on the slider, the clamping arm includes a movable arm rotatably mounted on the mounting shafts and a small arm rotatably mounted on the movable arm, a return spring is installed between the movable arm and the small arm; the clamping mechanism also includes a rotating rod rotatably mounted vertically on the small arm, the badge is installed at the lower end of the rotating rod; The conveyor belt assembly includes a support platform mounted on the mounting seat, an active roller and a passive roller respectively located on both sides of the support platform and mounted on the mounting seat, a conveyor belt arranged on the active roller and the passive roller, and two rows of training blocks staggered on the conveyor belt; The training block includes a mounting block mounted on the conveyor belt, a mixing bar inserted on the mounting block, and an elastic member sleeved on the mixing bar, wherein two ends of the elastic member are respectively connected to the mixing bar and the mounting block; The motion training module also includes a passive motion unit, which includes a mounting tube arranged on the side of the mounting seat where the drive component is arranged, an elastic rope arranged in the mounting tube, a strap connected to the elastic rope, and a lower pressure rail arranged on the end of the mounting seat away from the drive component, wherein the lower pressure rail is an arc-shaped structure, and the end of the lower pressure rail close to the training block is higher than the height of the training block, and the end away from the training block is lower than the height of the training block; the center of gravity of the rehabilitation robot is located in front of the user.

2. The rehabilitation robot according to claim 1, characterized in that: The clamping mechanism also includes two transverse guide rails respectively connected to the corresponding mounting shafts, two movable blocks respectively installed on the corresponding transverse guide rails, two limiting rails connected to the two movable blocks, and a rectangular block arranged between the two limiting rails, wherein the upper end of the rotating rod is passed through the rectangular block, and the rectangular block and the limiting rails are used to correct the direction of the rotating rod.

3. The rehabilitation robot according to claim 2, characterized in that: The second drive assembly includes two worm wheels respectively installed on the corresponding movable arms, a worm engaged with the two worm wheels, and a servo motor connected to the worm. The servo motor is used to drive the worm to rotate, and the worm is used to drive the two worm wheels to rotate, thereby linking the two movable arms and the small arm to rotate.

4. The rehabilitation robot according to claim 3, characterized in that: The clamping mechanism also includes a power-off protection module, which includes a mounting slot arranged on the movable arm, a contact No. 1 slidably installed in the mounting slot, a spring installed on the contact No. 1, a sliding rod inserted in the spring and connected to the contact No. 1, a pull rope with two ends respectively connected to the sliding rod and the forearm, and a contact No. 2 installed in the mounting slot.

5. The rehabilitation robot according to claim 4, characterized in that: The driving member is a telescopic cylinder, the output shaft of which is connected to the slider; and / or, an armpit groove is provided at the upper end of the badge, and the armpit groove is provided with an arc-shaped structure; and / or, the clamping mechanism also includes a support frame connected to the mounting shaft and used to support the servo motor.

6. The rehabilitation robot according to claim 5, characterized in that: The driving assembly includes a power motor mounted on the mounting seat, a No. 1 pulley connected to the power motor, a No. 2 pulley mounted on the active roller, and belts arranged on the No. 1 pulley and the No. 2 pulley, wherein the power motor is used to drive the No. 1 pulley to rotate, the No. 1 pulley is used to drive the No. 2 pulley and the active roller to rotate via the belt, and the active roller is used to drive the passive roller to rotate via the conveyor belt.

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