Ectoskeleton formula upper limbs rehabilitation training robot

The utility model discloses an ectoskeleton formula upper limbs rehabilitation training robot, including base, two robotic arm assembly and six motor drive subassemblies, the base is including moving base, electric box, electric?lift post, base platform, motor clamping angle frame, base rotating electrical machines, shaft coupling, base main bearing seat, base ball nut component, base nut seat, base sharing countershaft bearing, right branch frame, base linear guide subassembly and left socle, robotic arm assembly includes mechanical shoulder blade set of bands spare, mechanical shoulder joint subassembly, mechanical elbow joint subassembly, the preceding arm component of machinery, wrist joint subassembly and mechanical hand subassembly, the motor drive subassembly includes motor and speed reducing component, torque sensor subassembly and drive assembly, and motor and speed reducing component, torque sensor subassembly and drive assembly all install on same motor drive bed frame. The utility model discloses