The invention discloses a seven-freedom-degree
upper limb rehabilitation robot based on combination drive, and relates to the technical field of
medical rehabilitation. The
rehabilitation robot comprises three modules, i.e., a
shoulder joint medial rotation / lateral rotation movement module, a
shoulder joint extension / flexion and adduction / abduction and
elbow joint extension / flexion and pronation / supination module and a
wrist joint radial side flexion / ulnar side flexion and
dorsal flexion / palmer flexion movement module, and the
rehabilitation robot can achieve movement of seven freedom degrees. Under the coordination of the seven freedom degrees, the robot can simulate and achieve all types of movement of the upper limbs of a
human body; the seven freedom degrees can singly achieve independent movement of each joint and also can achieve
spatial motion through linkage motion of all the joints. The
rehabilitation robot is designed to be more suitable for the structure of the
human body, and the movement process of the
rehabilitation robot is closer to the movement rule of human arms; a
wrist joint part of the
rehabilitation robot is driven by a steel
wire rope, and a
drive motor is moved backwards to be installed on a
shoulder joint cantilever horizontal plate; thus, the weight of the
wrist joint part is reduced, and the wrist joint part is more convenient to control and simpler and more compact in structure.