CN219332390U

CN219332390U - Rehabilitation robot

Info

Publication number: CN219332390U
Application number: CN202223395702.3U
Authority: CN
Inventors: 刘云云; 李文超; 李凌; 辜嘉; 张永亮
Original assignee: Suzhou Zhongke Advanced Technology Research Institute Co Ltd
Current assignee: Suzhou Zhongke Advanced Technology Research Institute Co Ltd
Priority date: 2022-12-16
Filing date: 2022-12-16
Publication date: 2023-07-14
Anticipated expiration: 2032-12-16

Abstract

The utility model relates to a rehabilitation robot which comprises a mounting seat, a motion training module, a height adjusting module and a clamping mechanism, wherein the motion training module and the height adjusting module are respectively arranged on the mounting seat, the clamping mechanism is supported on the height adjusting module, the rehabilitation robot is convenient to adjust according to the limb lengths of different heights of users, the gravity center of the rehabilitation robot is positioned at the front part of the users, and open spaces are formed at the two sides and the rear part of the users, so that the rehabilitation robot is convenient to wear and use by the users.

Description

Rehabilitation robot

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a rehabilitation robot.

Background

The cerebral apoplexy patient is easy to have movement disorder sequelae after the disease is happened, namely, the symptoms of quadriplegia appear, and the traditional rehabilitation therapy mode comprises the rehabilitation therapy by massaging a rehabilitation doctor or assisting the patient to exercise or the patient can exercise by adopting rehabilitation equipment to realize the rehabilitation therapy. However, the rehabilitation cost is high by means of manual adjuvant therapy, and uniformity of the therapeutic effect cannot be ensured. The mode of adopting the rehabilitation equipment to treat is adopted, usually the mode of adopting the exoskeleton is bound to patient's limbs, then carries out passive or initiative motion training, and then reaches recovered purpose, because the height limb length of every patient is different, the length adjustment of exoskeleton is realized in the length adjustment of exoskeleton in order to adapt to different patients to current rehabilitation equipment often design complicated exoskeleton length adjustment structure, adjusts comparatively trouble, and the structure is complicated relatively, and then inconvenient to use.

Disclosure of Invention

An object of the present utility model is to provide a rehabilitation robot which can support patients of different sizes, can be used for patients with low mobility, and has a simple height structure and is convenient to use.

The utility model provides a rehabilitation robot, comprising:

a mounting base;

the exercise training module comprises a driving assembly arranged on the mounting seat and a conveyor belt assembly connected with the driving assembly, wherein the driving assembly is used for driving the conveyor belt assembly to rotate, and the conveyor belt assembly is used for a user to perform walking exercise training;

the height adjusting module comprises a vertical guide rail supported on the mounting seat, a sliding block slidably arranged on the vertical guide rail and a driving piece linked with the sliding block; and

the clamping mechanism is supported on the sliding block, and the driving piece is used for driving the sliding block to move up and down along the vertical guide rail so as to adjust the height of the clamping mechanism; the clamping mechanism comprises a second driving assembly, two clamping arms linked with the second driving assembly and chest cards respectively connected with the corresponding clamping arms, wherein the two chest cards are respectively used for clamping two sides of the chest of a user, and the second driving assembly is used for driving the two clamping arms to rotate relatively, so that the corresponding chest cards are respectively driven to move through the two clamping arms, and clamping and loosening of the chest of the user are realized.

In one embodiment of the present utility model, the clamping mechanism includes two mounting shafts supported on the slider, the clamping arm includes a movable arm rotatably mounted to the mounting shafts and a small arm rotatably mounted to the movable arm, and a return spring is mounted between the movable arm and the small arm.

In one embodiment of the utility model, the clamping mechanism further comprises a rotating rod rotatably and vertically arranged on the small arm, and the chest card is arranged at the lower end of the rotating rod.

In an embodiment of the present utility model, the clamping mechanism further includes two lateral rails connected to the corresponding mounting shafts, two moving blocks mounted on the corresponding lateral rails, two limiting rails connected to the two moving blocks, and a rectangular block disposed between the two limiting rails, wherein an upper end of the rotating rod is disposed on the rectangular block in a penetrating manner, and the rectangular block and the limiting rails are used for correcting a direction of the rotating rod.

In an embodiment of the present utility model, the second driving assembly includes two worm gears respectively mounted on the corresponding movable arms, a worm engaged with the two worm gears, and a servo motor connected to the worm, wherein the servo motor is used for driving the worm to rotate, and the worm is used for driving the two worm gears to rotate, so as to link the two movable arms and the small arm to rotate.

In an embodiment of the utility model, the clamping mechanism further comprises a power-off protection module, wherein the power-off protection module comprises a mounting groove arranged on the movable arm, a first contact installed in the mounting groove in a sliding manner, a spring installed on the first contact, a sliding rod inserted in the spring and connected with the first contact, a pull rope with two ends respectively connected with the sliding rod and the small arm, and a second contact installed in the mounting groove, wherein when the clamping pressure of the small arm is too large, the small arm pulls the sliding rod through the pull rope, so that the first contact and the second contact are separated, and excessive extrusion of the chest of a user is prevented.

In an embodiment of the utility model, the driving member is a telescopic cylinder, an output shaft of the telescopic cylinder is connected to the sliding block, and the telescopic cylinder stretches and moves, so that the clamping mechanism is driven to move up and down through the sliding block, the height of the clamping mechanism is adjusted, and the rehabilitation robot can be suitable for supporting users with different heights.

In one embodiment of the utility model, an armpit is arranged at the upper end of the chest card, and the armpit is arranged in an arc-shaped structure.

In an embodiment of the utility model, the clamping mechanism further comprises a support frame connected to the mounting shaft and adapted to support the servo motor.

In one embodiment of the utility model, the conveyor belt assembly comprises a supporting table mounted on the mounting seat, a driving roller and a driven roller which are respectively positioned at two sides of the supporting table and mounted on the mounting seat, a conveyor belt arranged on the driving roller and the driven roller, and two rows of training blocks arranged on the conveyor belt in a staggered manner.

In an embodiment of the present utility model, the driving assembly includes a power motor installed on the installation seat, a first belt pulley connected to the power motor, a second belt pulley installed on the driving roller, and a belt disposed on the first belt pulley and the second belt pulley, wherein the power motor is used for driving the first belt pulley to rotate, the first belt pulley is used for driving the second belt pulley and the driving roller to rotate via the belt, and the driving roller is used for driving the driven roller to rotate via the conveyor belt.

In an embodiment of the utility model, the training block comprises a mounting block mounted on the conveyor belt, a stirring strip inserted on the mounting block, and an elastic piece sleeved on the stirring strip, wherein two ends of the elastic piece are respectively connected with the stirring strip and the mounting block.

In an embodiment of the utility model, the exercise training module further includes a passive exercise unit, the passive exercise unit includes a mounting tube disposed on one side of the mounting base where the driving component is disposed, an elastic rope disposed in the mounting tube, a binding band connected to the elastic rope, and a pressing rail disposed on one end of the mounting base far away from the driving component, wherein the pressing rail is in an arc structure, and one end of the pressing rail close to the training block is higher than the height of the training block, and one end of the pressing rail far away from the training block is lower than the height of the training block.

In an embodiment of the utility model, the rehabilitation robot further comprises a control panel arranged on the side face of the vertical guide rail, and the control panel is used for controlling the working of the telescopic cylinder, the power motor and the servo motor.

The utility model has the following beneficial effects:

(1) The rehabilitation robot can adjust the height of the clamping mechanism through the cooperation of the telescopic cylinder, the vertical guide rail and the sliding block, so that the rehabilitation robot can be suitable for users with different heights, and is simple in adjusting structure and adjusting mode and convenient to use;

(2) The rehabilitation robot adjusts the clamping range of two chest cards in a mode of driving the two clamping arms to rotate through the structures of the servo motor and the worm gear, and can be suitable for clamping users with different body types;

(3) The rehabilitation robot is provided with the power-off protection module on the clamping mechanism, so that excessive clamping force to a user can be avoided, the comfort of clamping support is ensured, and the power-off protection is realized in a mode that the two contacts are separated by driving the pull rope through the small arm, so that the realization mode is simple and convenient;

(4) The rehabilitation robot is provided with a motion training module for active motion of a user and a passive motion unit, so that patients with different motion capacities can be satisfied;

(5) The gravity center of the rehabilitation robot is positioned at the front part of a user, and both sides and the rear of the user are open spaces, so that the rehabilitation robot is convenient for the user to wear and use.

Further objects and advantages of the present utility model will become fully apparent from the following description and the accompanying drawings.

Drawings

Fig. 1 is a schematic cross-sectional view of the rehabilitation robot according to a preferred embodiment of the present utility model.

Fig. 2 is a schematic rear view in cross section of the rehabilitation robot according to the above preferred embodiment of the present utility model.

Fig. 3 is a partial plan view of the rehabilitation robot according to the above preferred embodiment of the present utility model.

Reference numerals illustrate: a rehabilitation robot 100; a mounting base 10; a sports training module 20; a drive assembly 21; a power motor 211; a pulley number one 212; a pulley 213 No. two; a belt 214; a conveyor belt assembly 22; a support table 221; a drive roller 222; a passive roller 223; a conveyor belt 224; a training block 225; a mounting block 2251; a stirring bar 2252; an elastic member 2253; a passive movement unit 23; a mounting tube 231; an elastic cord 232; a strap 233; a pressing down rail 234; a locking bolt 235; a height adjustment module 30; a vertical guide rail 31; a slider 32; a driving member 33; a clamping mechanism 40; a second drive assembly 41; a worm wheel 411; a worm 412; a servo motor 413; a clamp arm 42; boom 421; a forearm 422; a return spring 423; chest card 43; an armpit 431; a mounting shaft 44; a rotating lever 45; a transverse rail 46; a movable block 47; a restricting rail 48; rectangular block 49; a support 50; a power-off protection module 60; a mounting groove 61; contact number one 62; a spring 63; a slide rod 64; a pull cord 65; contact number two 66; and a control panel 70.

Detailed Description

The following description is presented to enable one of ordinary skill in the art to make and use the utility model. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art. The basic principles of the utility model defined in the following description may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the utility model.

It will be appreciated by those skilled in the art that in the present disclosure, the terms "vertical," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc. refer to an orientation or positional relationship based on that shown in the drawings, which is merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore the above terms should not be construed as limiting the present utility model.

It will be understood that the terms "a" and "an" should be interpreted as referring to "at least one" or "one or more," i.e., in one embodiment, the number of elements may be one, while in another embodiment, the number of elements may be plural, and the term "a" should not be interpreted as limiting the number.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically connected, electrically connected or can be communicated with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

As shown in fig. 1 to 3, a specific structure of a rehabilitation robot 100 according to a preferred embodiment of the present utility model is illustrated.

As shown in fig. 1 and 2, the rehabilitation robot 100 includes a mounting base 10, a exercise training module 20 and a height adjusting module 30 respectively mounted to the mounting base 10, and a clamping mechanism 40 supported on the height adjusting module 30.

Specifically, the exercise training module 20 includes a driving assembly 21 disposed on the mounting base 10 and a conveyor belt assembly 22 connected to the driving assembly 21, wherein the driving assembly 21 is used for driving the conveyor belt assembly 22 to rotate, and the conveyor belt assembly 22 is used for the user to perform walking exercise training.

Specifically, the height adjusting module 30 includes a vertical rail 31 supported on the mounting base 10, a slider 32 slidably disposed on the vertical rail 31, and a driving piece 33 coupled to the slider 32.

Specifically, the clamping mechanism 40 is supported on the slider 32, and the driving member 33 is configured to drive the slider 32 to move up and down along the vertical rail 31, so as to adjust the height of the clamping mechanism 40.

Optionally, the driving member 33 is a motor or a telescopic cylinder, and in this preferred embodiment, the driving member 33 is a telescopic cylinder, an output shaft of the telescopic cylinder is connected to the slider 32, and the telescopic cylinder moves in a telescopic manner, so that the clamping mechanism 40 is driven to move up and down by the slider 32, and the height of the clamping mechanism 40 is adjusted, so that the rehabilitation robot 100 can be suitable for supporting users with different heights.

Specifically, the clamping mechanism 40 includes a second driving assembly 41, two clamping arms 42 linked with the second driving assembly 41, and chest cards 43 respectively connected with the corresponding clamping arms 42, wherein the two chest cards 43 are respectively used for clamping two sides of a chest of a user, and the second driving assembly 41 is used for driving the two clamping arms 42 to rotate relatively, so that the corresponding chest cards 43 are respectively driven to move by the two clamping arms 42, and clamping and loosening of the chest of the user are realized.

It can be appreciated that the height of the clamping mechanism 40 can be adjusted by the height adjusting module 30 of the rehabilitation robot 100, and the two clamping arms 42 are driven to rotate by the second driving assembly 41, so that the clamping range between the two chest cards 43 can be adjusted, and the rehabilitation robot 100 has both height adjusting and clamping range adjusting functions and can be suitable for users with different sizes.

Further, the clamping mechanism 40 includes two mounting shafts 44 supported on the slider 32, the clamping arm 42 includes a movable arm 421 rotatably mounted to the mounting shafts 44 and a small arm 422 rotatably mounted to the movable arm 421, and a return spring 423 is mounted between the movable arm 421 and the small arm 422.

Furthermore, the clamping mechanism 40 further comprises a rotating rod 45 rotatably and vertically mounted on the small arm 422, and the chest card 43 is mounted on the lower end of the rotating rod 45. That is, the chest card 43 is connected to the corresponding forearm 422 through the corresponding rotation lever 45.

It should be noted that, the chest card 43 upper end is provided with the armpit 431, the armpit 431 sets up to arc structure, so that the chest card 43 can laminate the user's chest and the centre gripping supports in user's armpit, and is convenient to pass through the fixture 40 with the patient centre gripping support that mobility is low.

It should be further noted that, in some embodiments of the present utility model, the arc-shaped upper end of the chest card 43 may be further provided with a cushion, such as a cushion sponge, for improving the comfort of clamping, which is not limited by the present utility model.

Further, the clamping mechanism 40 further includes two lateral rails 46 respectively connected to the corresponding mounting shafts 44, two moving blocks 47 respectively mounted on the corresponding lateral rails 46, two limiting rails 48 connected to the two moving blocks 47, and a rectangular block 49 disposed between the two limiting rails 48, wherein an upper end of the rotating rod 45 is threaded on the rectangular block 49, and the rectangular block 49 and the limiting rails 48 are used for correcting the direction of the rotating rod 45.

More specifically, as shown in fig. 3, the second driving assembly 41 includes two worm gears 411 respectively mounted 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 for driving the worm 412 to rotate, the worm 412 is used for driving the two worm gears 411 to rotate, thereby linking the two movable arms 421 and the small arms 422 to rotate, and the two small arms 422 drive the two chest cards 43 to approach or separate from each other via the rotating rod 45, thereby realizing clamping and releasing of the chest of the user.

It should be noted that the clamping mechanism 40 further includes a supporting frame 50 connected to the mounting shaft 44 and configured to support the servo motor 413.

In particular, in order to prevent the clamping force of the clamping mechanism 40 on the chest of the user from being excessively large, the clamping mechanism 40 is further provided with a power-off protection module 60, wherein the power-off protection module 60 comprises a mounting groove 61 arranged on the movable arm 421, a contact number one 62 slidably mounted in the mounting groove 61, a spring 63 mounted on the contact number one 62, a sliding rod 64 inserted in the spring 63 and connected to the contact number one 62, a pull rope 65 with two ends respectively connected to the sliding rod 64 and the small arm 422, and a contact number two 66 mounted on the mounting groove 61, wherein when the clamping pressure of the small arm 422 is excessively large, the small arm 422 pulls the sliding rod 64 through the pull rope 65, so that the contact number one 62 is separated from the contact number two 66 to realize power-off, and the chest of the user is prevented from being excessively pressed.

It will be appreciated that the first contact 62 and the second contact 66 may be respectively connected to a switch signal input end of the control panel 70 of the rehabilitation robot 100, or connected to a power circuit of the servo motor 413, that is, the first contact 62 and the second contact 66 may be used as a circuit switch for controlling the control panel 70 or a circuit switch for controlling the servo motor 413, when the first contact 62 is in contact with the second contact, a circuit of the servo motor 413 is ensured, normal operation is ensured, and when the first contact 62 is separated from the second contact, a circuit of the servo motor 413 is cut off, so that the servo motor 413 stops working, excessive extrusion on a chest of a patient is avoided, and use safety of the rehabilitation robot 100 is ensured.

Further, the conveyor belt assembly 22 includes a support table 221 installed on the mounting base 10, driving and driven

rollers

222 and 223 installed on the mounting base 10 at both sides of the support table 221, a conveyor belt 224 provided on the driving and driven

rollers

222 and 223, and two rows of training blocks 225 staggered on the conveyor belt 224.

More specifically, the training block 225 includes a mounting block 2251 mounted on the conveyor belt 224, a stirring bar 2252 inserted on the mounting block 2251, and an elastic member 2253 sleeved on the stirring bar 2252, wherein two ends of the elastic member 2253 are respectively connected to the stirring bar 2252 and the mounting block 2251, and the elastic member 2253 preferably employs a spring.

Further, the driving assembly 21 includes a power motor 211 installed on the mounting base 10, a first pulley 212 connected to the power motor 211, a second pulley 213 installed on the driving roller 222, and a belt 214 disposed on the first pulley 212 and the second pulley 213, wherein the power motor 211 is used for driving the first pulley 212 to rotate, the first pulley 212 is used for driving the second pulley 213 and the driving roller 222 to rotate via the belt 214, and the driving roller 222 is used for driving the driven roller 223 to rotate via the conveying belt 224.

It should be noted that the rehabilitation robot 100 further includes a control panel 70 disposed on a side surface of the vertical guide rail 31, where the control panel 70 is used to control the operations of the telescopic cylinder, the power motor 211, and the servo motor 413.

In particular, the exercise training module 20 further includes a passive movement unit 23, where the passive movement unit 23 includes a mounting tube 231 disposed at one side of the mounting base 10 where the driving assembly 21 is disposed, an elastic cord 232 disposed in the mounting tube 231, a binding band 233 connected to the elastic cord 232, and a pressing rail 234 disposed at one end of the mounting base 10 far from the driving assembly 21, and the pressing rail 234 has an arc structure, and one end of the pressing rail 234 near the training block 225 is higher than the training block 225, and one end far from the training block 225 is lower than the training block 225.

It should be noted that the passive movement unit 23 further includes a locking bolt 235 provided at the mounting tube 231.

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

when in operation, a user firstly holds the chest card 43 on the conveyor belt 224 and positions the chest card under the armpits, then the servo motor 413 is controlled to operate to drive the worm 412 to rotate, the worm 412 rotates to drive the two worm gears 411 to rotate, the worm gear 411 rotates to drive the movable arm 421 and further drive the small arm 422 to rotate, the small arm 422 rotates to drive the chest card 43 to clamp the chest of the user through the rotating rod 45, and in the process, the limiting rail 48 is matched with the rectangular block 49 to correct the direction of the rotating rod 45;

when the chest card 43 just contacts two sides of the chest of a user, the telescopic cylinder is controlled to work so as to drive the sliding block 32 to move, and then the chest card 43 is indirectly driven to move up and down, so that the height is adjusted according to the height of the user;

when the height adjustment is completed, the power motor 211 is controlled to start working, the power motor 211 works to drive the first belt pulley 212 to rotate, the first belt pulley 212 rotates to drive the second belt pulley 213 to rotate through the belt 214, the second belt pulley 213 rotates to drive the driving roller 222 to rotate, and the driving roller 222 drives the driven roller 223 to rotate through the conveying belt 224, so that the conveying belt 224 rotates;

when the legs of the user can move independently, the telescopic cylinder drives the sliding block 32 to move so as to drive the steps of the user to fit the conveyor belt 224 through the chest card 43, and the user can move by matching with the conveyor belt 224;

when the legs of the user cannot move by themselves, the user needs to wear the shoes in advance, the shoes are preferably made of sole materials with smooth bottoms, the binding bands 233 are bound on the wrists of the user, the positions of the user are adjusted through the telescopic cylinders and the clamping mechanisms 40, so that the soles of the user correspond to the positions of the stirring bars 2252, when the conveyor belt 224 moves, the feet of the user move backwards, when the stirring bars 2252 move to be contacted with the pressing rails 234, the stirring bars 2252 move downwards to be separated from the soles of the user, the lower legs and the feet of the user move forwards under the action of the elastic ropes 232, and the two rows of the stirring bars 2252 are matched to realize the forward and backward movement of the legs similar to walking, so that the rehabilitation of the user is facilitated, and the stretching of the legs bent by the user is facilitated.

It can be appreciated that the present utility model has the following beneficial effects over the prior art:

(1) The rehabilitation robot 100 can adjust the height of the clamping mechanism 40 through the cooperation of the telescopic cylinder, the vertical guide rail and the sliding block 32, so that the rehabilitation robot 100 can be suitable for users with different heights, and the rehabilitation robot 100 is simple in adjusting structure and adjusting mode and convenient to use;

(2) The rehabilitation robot 100 adjusts the clamping range of the two chest cards 43 by driving the two clamping arms 42 to rotate through the structure of the servo motor 413 and the worm wheel 411 set, and can be suitable for clamping users with different sizes;

(3) The power-off protection module 60 is arranged on the clamping mechanism 40 by the rehabilitation robot 100, so that excessive clamping force to a user can be avoided, the comfort of clamping and supporting is ensured, and the power-off protection is realized in a mode that the two contacts are separated by driving the pull rope 65 through the small arm 422, so that the realization mode is simple and convenient;

(4) The rehabilitation robot 100 is provided with a passive movement unit 23 while being provided with a movement training module 20 for the active movement of a user, so that patients with different movement capacities can be satisfied;

(5) The center of gravity of the rehabilitation robot 100 is located at the front of the user, and both sides and the rear of the user are open spaces, so that the rehabilitation robot is convenient for the user to wear and use.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples only represent preferred embodiments of the present utility model, which are described in more detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

Claims

1. A rehabilitation robot, comprising:

a mounting base;

2. The rehabilitation robot of claim 1, wherein the clamping mechanism comprises two mounting shafts supported on the slide block, the clamping arm comprises a movable arm rotatably mounted to the mounting shafts and a small arm rotatably mounted to the movable arm, and a return spring is mounted between the movable arm and the small arm; the clamping mechanism further comprises a rotating rod which is rotatably and vertically arranged on the forearm, and the chest card is arranged at the lower end of the rotating rod.

3. The rehabilitation robot according to claim 2, wherein the clamping mechanism further comprises two lateral rails connected to the corresponding mounting shafts, two moving blocks mounted on the corresponding lateral rails, two limiting rails connected to the two moving blocks, and a rectangular block disposed between the two limiting rails, wherein an upper end of the rotating rod is threaded on the rectangular block, and the rectangular block and the limiting rails are used for correcting the direction of the rotating rod.

4. The rehabilitation robot according to claim 3, wherein the second driving component comprises 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 for driving the worm to rotate, and the worm is used for driving the two worm wheels to rotate, so that the two movable arms and the small arms are linked to rotate.

5. The rehabilitation robot according to claim 4, wherein the clamping mechanism further comprises a power-off protection module, the power-off protection module comprises a mounting groove arranged on the movable arm, a first contact installed in the mounting groove in a sliding mode, a spring installed on the first contact, a sliding rod inserted in the spring and connected with the first contact, a pull rope with two ends connected with the sliding rod and the small arm respectively, and a second contact installed in the mounting groove.

6. The rehabilitation robot according to claim 4 or 5, wherein the driving member is a telescopic cylinder, and an output shaft of the telescopic cylinder is connected to the slider; and/or the upper end of the chest card is provided with an armpit, and the armpit is in an arc-shaped structure; and/or the clamping mechanism further comprises a supporting frame connected to the mounting shaft and used for supporting the servo motor.

7. The rehabilitation robot of any of claims 1-5, wherein the conveyor belt assembly comprises a support table mounted on the mount, a drive roller and a driven roller positioned on opposite sides of the support table and mounted on the mount, a conveyor belt disposed on the drive roller and the driven roller, and two rows of training blocks staggered on the conveyor belt.

8. The rehabilitation robot according to claim 7, wherein the driving assembly comprises a power motor installed on the installation seat, a first belt pulley connected to the power motor, a second belt pulley installed on the driving roller, and a belt provided on the first belt pulley and the second belt pulley, wherein the power motor is used for driving the first belt pulley to rotate, the first belt pulley is used for driving the second belt pulley and the driving roller to rotate via the belt, and the driving roller is used for driving the driven roller to rotate via the conveyor belt.

9. The rehabilitation robot according to claim 8, wherein the training block comprises a mounting block mounted on the conveyor belt, a stirring bar inserted on the mounting block, and an elastic member sleeved on the stirring bar, wherein two ends of the elastic member are respectively connected with the stirring bar and the mounting block.

10. The rehabilitation robot of claim 9, wherein the exercise training module further comprises a passive exercise unit, the passive exercise unit comprising a mounting tube disposed on one side of the mounting base where the drive assembly is disposed, an elastic cord disposed in the mounting tube, a strap connected to the elastic cord, and a pressing rail disposed on one end of the mounting base far away from the drive assembly, wherein the pressing rail is of an arc-shaped structure, one end of the pressing rail close to the training block is higher than the training block, and one end of the pressing rail far away from the training block is lower than the training block.