Support rehabilitation training robot and operation method thereof

A method for operating a support rehabilitation training robot, wherein:

• the support rehabilitation training robot comprises a crawler-type walking machine, a pedestal, a lifting lead screw mechanism, a manipulator, and a counterweight mechanism;
• the lifting lead screw mechanism comprises a guide rod, a lead screw, an arm lifting platform, and a lifting motor;
• the manipulator comprises an arm connecting tube, a shoulder joint motor, an internal gear set, a shoulder-joint harmonic reducer, a revolute joint motor, an upper-arm supporting plate, a revolute-joint harmonic reducer, an elbow joint motor, an elbow-joint supporting plate, a bevel gear set, an upper-limb wrist cardan joint, a forearm supporting plate, an elbow-joint harmonic reducer, a shoulder spring mounting block, an elbow spring mounting block, and an elbow-joint synchronous belt;
• the counterweight mechanism comprises a counterweight baseplate, a counterweight block, a guide bar, and a steel wire rope;
• and
• the method comprises:
• using a binding band to fix the shoulder of a trainee to the upper-limb wrist cardan joint and fix a hip of the trainee to a lower-limb wrist cardan joint;
• and
• fixing an exoskeleton synchronous belt cover plate in a direction perpendicular to an upper leg, wherein:
• during gait training of the trainee, with cooperation of the crawler-type walking machine, a motor works under a torque mode;
• the shoulder joint motor drives an upper arm via the internal gear set and the shoulder-joint harmonic reducer to achieve forward bending and backward stretching motion around the shoulder joint;
• the revolute joint motor drives the elbow-joint supporting plate via the revolute-joint harmonic reducer to achieve internal-external rotation motion of the elbow joint around the upper arm;
• the elbow joint motor drives the forearm supporting plate via the bevel gear set and the elbow-joint synchronous belt to achieve the stretching and bending motion of the forearm around the elbow joint;
• and
• an exoskeleton motor drives an exoskeleton motor mounting plate via an exoskeleton synchronous belt and an exoskeleton harmonic reducer to achieve gait guiding motion guided by an exoskeleton synchronous belt cover plate.