A multi-pneumatically driven rehabilitation robot device for wrist joints

Abstract

The present invention discloses a multi-pneumatic driven rehabilitation robot device for wrist joints, including a chair, an integral device on a T-shaped circular track, a support structure of the T-shaped circular track, and a trolley located on the T-shaped circular track, and can be started and stopped at any position on the T-shaped circular track. The winding drum on the trolley is connected to one end of a tension sensor, and then one end of a pneumatic artificial muscle is connected to the tension sensor, and the other end is connected to a multifunctional glove. The pneumatic artificial muscle driven by the pneumatic control system can realize the rehabilitation movement of the wrist joint. The pneumatic control system controls the contraction and extension of the pneumatic artificial muscle in the horizontal direction to realize the abduction / adduction movement of the wrist joint; controls the contraction and extension of the pneumatic artificial muscle in the vertical direction to realize the flexion / extension movement of the wrist joint; and adopts the composite movement in the horizontal and vertical directions to realize the rotation movement of the wrist joint, solving the problem of the single rehabilitation mode of the wrist joint.

Description

Technical Field

[0001] The invention relates to the technical field of rehabilitation training robots, in particular to a multi-pneumatic driven rehabilitation robot device for wrist joints. Background Art

[0002] With the aging of the population and the increase in natural disasters, the incidence of wrist injuries has also increased year by year. Traditional manual rehabilitation training requires one-on-one treatment by experienced professional therapists, which has problems such as high labor intensity for doctors, high costs, and low efficiency.

[0003] Therefore, with the continuous development of electronic components and control technology, the use of equipment or even robots for rehabilitation training has gradually become the mainstream of rehabilitation training. However, such rehabilitation equipment has disadvantages such as complex structure and high price, and is not suitable for most people. In order to overcome these problems, there is an urgent need for a new type of wrist rehabilitation device that is moderately priced, flexible and lightweight. A multi-pneumatically driven rehabilitation robot device for the wrist joint has been proposed.

[0004] The wrist joint is composed of the radiocarpal joint, intercarpal joint and distal radioulnar joint. The robotic devices for wrist rehabilitation currently available on the market can perform abduction / adduction, flexion / extension and circumduction. Most of them have the problems of insufficient flexibility, complex structure, high cost, easy secondary injury and inability to improve treatment efficiency within an effective time. Summary of the invention

[0005] The purpose of the present invention is: to solve the above-mentioned technical problems, to propose a multi-pneumatically driven rehabilitation robot device for wrist joints, which can realize pneumatically driven rehabilitation training for the wrist joints, so that patients can perform abduction / adduction, flexion / extension and circumduction exercises on the wrist joints under various rehabilitation modes, thereby ultimately achieving rehabilitation of the patient's wrist joints.

[0006] In order to achieve the above-mentioned purpose, the present invention provides the following technical scheme: relative to the horizontal direction of the T-shaped circular track, the trolley 11 is located on the T-shaped circular track 23, and the T-shaped circular track is connected to the bracket 8. In order to meet the stability of the bracket, the base 10 is installed below the bracket. The trolley 11 is moved on the T-shaped circular track 23 by the winding drum motor 11-1. The winding drum motor 11-1 is installed on the trolley 11, and the motor shaft of the winding drum motor 11-1 is connected to the winding drum 11-3. The winding drum 11-3 and the winding drum motor 11-1 are connected by a coupling 11-2 that can realize common rotation and transmit torque. The main drive shaft 11-8 and the driven shaft 11-7 driven by the main drive shaft motor 11-4 are installed below the trolley 11, and are connected by springs respectively, to clamp the T-shaped circular track. Driven by the wheel 11-6, the trolley 11 can be kept in a stopped and moving state at any position. One end of the tension sensor A (16) is connected to the winding drum 11-3 through a rope, and the other end is connected to the pneumatic artificial muscle D (20). Similarly, the extension and retraction of the rope can also be achieved by driving the pneumatic artificial muscle D (20) with the help of a pneumatic control system. The tension sensor B (16) serves the purpose of pre-tightening the rope when the overall device starts to move. On the one hand, if the tension signal value received by the tension sensor B (16) is greater than the prescribed value of the rope pre-tightening force, the winding drum motor 11-1 on the trolley 11 stops rotating and the winding drum 11-3 stops tightening the rope to maintain the pre-tightening force; on the other hand, if the tension signal value received by the tension sensor B (16) is less than the prescribed value of the pre-tightening force, the winding drum motor 11-1 on the trolley 11 rotates to drive the winding drum 11-3 to continue tightening the rope until the tension signal value is equal to the prescribed value of the pre-tightening force, at which time the winding drum motor stops rotating and the tension is maintained. At the same time, the other end of the pneumatic artificial muscle D (20) is connected to the four finger joints on one side of the multifunctional glove 22 through a rope. According to the different characteristics of the patient's disease, the patient's hand can be inserted into the glove regardless of the left hand or the right hand and the front and back sides, which reduces the trouble of wearing and is more humane. Similarly, relative to the right side of the T-shaped circular track, the trolley 13 is located on the T-shaped circular track 23, and the device and installation connection method on the trolley are the same as those on the left side of the T-shaped circular track. The other end of the winding drum on the trolley 13 is connected to one end of the pneumatic artificial muscle B (18) through a rope, wherein the pneumatic artificial muscle B (18) realizes the extension and retraction of the rope through another pneumatic control system, and realizes the displacement and angle change of the multifunctional glove 22 through the inflation and deflation of the pneumatic artificial muscle B (18). The other end of the pneumatic artificial muscle B (18) is connected to the four finger joints on the other side of the multifunctional glove 22.

[0007] Relative to the movement process of the left side of the T-shaped circular track in the horizontal direction, the trolley 11 moves under the drive of the winding drum motor 11-1 through the main driving shaft 11-8 and the driven shaft 11-7, with the wheel 11-6 clamping the T-shaped circular track under the action of the spring 11-5, and the winding drum motor 11-1 maintains the pre-tightened state of the entire movement mechanism through the rope at the beginning of operation. One end of the tension sensor B (16) is connected to the winding drum 11-3 on the trolley through the rope, and one end of the pneumatic artificial muscle D (20) is connected to the tension sensor B (16) and the other end is connected to one side of the multifunctional glove 22. The pneumatic control system supplies the internal pressure of the pneumatic artificial muscle D (20), wherein the pneumatic control system first provides compressed air from the air compressor 1, and enters the air filter 2 and the electrical proportional pressure valve 3 through the air pipe to remove water vapor in the compressed air. Then, the air pipe is connected to the oil mist device 4 with lubrication function, and then the two-position three-way electromagnetic reversing valve 5 is used, and finally the air enters the air inlet of the pneumatic artificial muscle D (20). When the electromagnet of the reversing valve 5 is energized, the pneumatic artificial muscle D (20) entering the compressed air shortens and deforms in the inflated state, thereby generating a tensile force, so that the multifunctional glove drives the patient's wrist through the rope to achieve rehabilitation exercise. At the same time, the internal flow of the pneumatic artificial muscle D (20) is fine-tuned by the electrical proportional flow valve 6.

[0008] After the reversing valve 5 is switched, the compressed air inside the pneumatic artificial muscle D (20) flows through the reversing valve 5, the electrical proportional flow valve 6, and the muffler 7 and flows into the atmosphere, wherein the control of the gas pressure inside the pneumatic artificial muscle D (20) is achieved through the electrical proportional flow valve 6 connected to the air outlet of the reversing valve 5.

[0009] The movement process on the right side and the movement process on the left side relative to the horizontal direction of the T-shaped circular track are symmetrical to each other and have the same movement mode.

[0010] In summary, the patient puts his hand into the multifunctional glove 22, and at the same time puts his arm on the support body 9-2 of the chair 9 and fixes it with a strap. The multifunctional glove 22 can realize the abduction and adduction movement of the wrist through the cooperation between the pneumatic artificial muscle D (20) and the pneumatic artificial muscle B (18); in addition, the winding drum motor 11-1 on the trolley 11 rotates to drive the winding drum 11-3 to rotate at the same angle to retract and release the rope, and the main drive shaft motor 11-4 controls the main drive shaft to drive the driven shaft through the wheel 11-6 to cooperate with the trolley 3 to realize a 90-degree circular motion on the T-shaped circular track.

[0011] Next, the overall device, movement form, and device installation and connection method installed in the vertical direction of the T-shaped circular track are opposite and the same as the overall device, movement form, and device installation and connection method installed in the horizontal direction of the T-shaped circular track, so that the extension and flexion movement of the wrist joint can be realized, and the 90-degree rotation movement of the wrist joint with the forearm as the axis can also be realized.

[0012] Finally, for a multi-pneumatically driven rehabilitation robot device for the wrist joint, through a series of control systems, the T-shaped circular track first moves horizontally, then moves vertically, and finally the horizontal device and the vertical direction perform a combined movement. This can achieve both wrist abduction / adduction, flexion / extension movements, and compound rotational movement of the wrist joint with the forearm as the axis.

[0013] Compared with the prior art, the present invention has achieved the following technical results: the present invention can perform abduction / adduction, flexion / extension exercises on the patient's wrist joint, and at the same time realize the rehabilitation form of the wrist joint compound rotation exercise with the forearm as the axis, enriching the rehabilitation form of the wrist joint and effectively improving the utilization efficiency of the rehabilitation training robot; the pneumatic artificial muscle inflation and deflation method is adopted to alleviate the impact during wrist rehabilitation exercises and avoid secondary injuries caused by the asynchronous rigid movement of the winding drum when the pull rope is retracted; the multifunctional gloves are adopted, and according to different patient characteristics, the patient's hand can be inserted into the gloves regardless of the left or right hand and the front and back, reducing the trouble of wearing and making the function more humane; the chair with adjustable upper limb support body height is adopted to meet the needs of patients of different heights. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the overall structure of a multi-pneumatic drive type rehabilitation robot device for wrist joints of the present invention;

[0015] Figure 2 It is a schematic diagram of the structure of the related devices on the T-shaped circular track in the present invention;

[0016] Figure 3 This is a diagram of the multifunctional gloves of the present invention;

[0017] Figure 4 It is a schematic diagram of the overall structure of the present invention installed on a trolley;

[0018] Figure 5 It is a schematic diagram of a chair in the present invention.

[0019] in: Figure 1In the middle: 1 is an air compressor, 2 is an air filter, 3 is an electric proportional pressure valve, 4 is an oil mist collector, 5 is a two-position three-way electromagnetic reversing valve, 6 is an electric proportional flow valve, 7 is a muffler, 8 is a T-shaped ring track bracket, 9 is a chair, and 10 is the base of the T-shaped ring track bracket;

[0020] Figure 2 In the figure: 11, 12, 13, 14 are trolleys (the structures and components of trolleys 11, 12, 13 and 14 are exactly the same, and the various component numbers of trolleys 12, 13 and 14 are no longer marked in the figure), 15 is a tension sensor A, 16 is a tension sensor B (wherein, the structures and components of tension sensor A and tension sensor B are exactly the same), 17 is a pneumatic artificial muscle A, 18 is a pneumatic muscle B, 19 is a pneumatic artificial muscle C, 20 is a pneumatic artificial muscle D (wherein, the structures and components of pneumatic artificial muscle A, pneumatic artificial muscle B, pneumatic artificial muscle C and pneumatic artificial muscle D are exactly the same), 21 is a rope, 22 is a multifunctional glove, and 23 is a T-shaped circular track;

[0021] Figure 3 Middle: Schematic diagram of multifunctional gloves;

[0022] Figure 4 In the middle: 11-1 is the winding drum motor, 11-2 is the coupling, 11-3 is the winding drum, 11-4 is the main drive shaft motor, 11-5 is the spring, 11-6 is the wheel, 11-7 is the slave drive shaft, and 11-8 is the main drive shaft;

[0023] Figure 5 Middle: 9-1 chair body, 9-2 upper limb support DETAILED DESCRIPTION

[0024] The purpose of the present invention is to provide a multi-pneumatically driven rehabilitation robot device for wrist joints to solve the problem of single training mode in modern technology. The invention can realize wrist abduction / adduction, flexion / extension movements, and wrist joint compound rotation movement with the forearm as the axis, so that the wrist joint can be better trained for recovery with the assistance of the rehabilitation robot device, thereby improving the rehabilitation efficiency.

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] The present invention provides a multi-pneumatically driven rehabilitation robot device for wrist joints:

[0027] Figure 1 , Figure 2The small and medium-sized car 11 is located on a T-shaped circular track 23, and the T-shaped circular track 23 is connected to a bracket 8. In order to ensure the stability of the bracket, a base 10 is installed below the bracket. The car 11 is moved on the T-shaped circular track 23 by a winding drum motor 11-1, and the combined movement with the other three cars can realize the circumferential movement of the wrist joint. One end of the tension sensor A (16) is connected to the winding drum 11-3 on the car through a rope. One end of the pneumatic artificial muscle D (20) is connected to the tension sensor A (16), and the other end is connected to one side of the multifunctional glove 22. The pneumatic control system supplies internal pressure to the pneumatic artificial muscle D (20) to realize the extension and contraction of the rope, and cooperates with the pneumatic artificial muscle B (18) at the other end to realize the abduction and adduction of the wrist joint; the movement mode of the pneumatic artificial muscle A and the pneumatic artificial muscle C in the vertical direction is the same as the movement mode in the horizontal direction, which can realize the flexion and extension of the wrist joint.

[0028] Figure 3 In the embodiment, one side of the multifunctional glove 22 is connected to the pneumatic artificial muscle D (20) through a plurality of ropes. The pneumatic artificial muscle D (20) has the characteristics of light weight, good flexibility and miniaturization. During the inflation and deflation process, the pneumatic artificial muscle D (20) extends and contracts to drive the glove to move through the ropes.

[0029] Figure 4 In the embodiment, a winding drum motor 11-1 is installed on the trolley 11, and the motor shaft of the winding drum motor 11-1 is connected to the winding drum 11-3, and the shaft of the winding drum 11-3 and the motor shaft are connected by a coupling 11-2 between them, so that they rotate together to transmit torque. A driving shaft 11-8 driven by a main driving shaft motor 11-4 is installed under the trolley, and is connected to a driven shaft 11-7 through springs 11-5, so that the trolley 11 can be kept stopped and started at any position, and wheels 11-6 are installed respectively.

[0030] Figure 5 In the embodiment, the patient sits on the chair body 9-1 and puts his hand into the multifunctional glove 22, and puts his arm on the upper limb support 9-2 of the chair 9 and fixes it with a strap. The upper limb support 9-2 is connected to the chair body 9-1 by two retractable pillars with bolt holes, and the height of the upper limb support 9-2 can be changed by adjusting the position of the bolts, so as to meet the height requirements of different patients.

[0031] For a multi-pneumatically driven rehabilitation robot device for wrist joints, taking the right hand as an example, it includes the following forms of movement rehabilitation:

[0032] (1) The preload state of the entire device at the beginning

[0033] At the beginning, the two trolleys respectively pass through the main driving shaft and the driven shaft in the horizontal direction relative to the T-shaped circular track. The wheels clamp the T-shaped circular track under the action of springs. Driven by the winding drum motor, the ropes are used to maintain the pre-tightening state of the entire motion mechanism in the horizontal direction; the operation method of the pre-tightening state in the vertical direction relative to the T-shaped circular track is the same as that in the horizontal direction.

[0034] (2) Abduction / adduction of the wrist joint

[0035] When the whole device is kept in a pre-tightened state, relative to the horizontal direction of the T-shaped circular track, first, the pneumatic artificial muscle D (20) is inflated through the pneumatic circuit to shorten its shape, and the pneumatic artificial muscle B (18) remains unchanged. One end of the multi-strand rope 21 is connected to the pneumatic artificial muscle D (20), and the other end is connected to one side of the multi-functional glove 22. During the deformation process of the pneumatic artificial muscle D (20), the forearm is placed in the upper limb support body 9-2 and fixed by the strap, so that the multi-functional glove 22 is driven to move to the left, forming a wrist adduction movement. Then, the pneumatic artificial muscle B (18) is inflated through the pneumatic circuit to shorten its shape, and the pneumatic artificial muscle D (20) is deflated at the same time. One end of the multi-strand rope 21 is connected to the pneumatic artificial muscle B (18), and the other end is connected to multiple finger joints on one side of the multi-functional glove 22. During the deformation process of the pneumatic artificial muscle B (18) and the pneumatic artificial muscle (20) in the horizontal direction, the multi-functional glove 22 is driven to move to the right, forming a wrist abduction movement.

[0036] (3) Wrist flexion / extension exercise

[0037] When the whole device is kept in a pre-tightened state, relative to the vertical direction of the T-shaped circular track, first, the uppermost pneumatic artificial muscle C (19) is inflated through the pneumatic circuit to shorten its shape, and the lowermost pneumatic artificial muscle A (17) remains unchanged. One end of the multi-strand rope 21 is connected to the pneumatic artificial muscle C (19), and the other end is connected to multiple finger joints on one side of the multi-functional glove 22. During the deformation process of the pneumatic artificial muscle C (19), the forearm is placed in the upper limb support body 9-2 and fixed by the strap, so that the multi-functional glove 22 is driven to move upward to form a wrist extension movement. Then, the lowermost pneumatic artificial muscle A (17) is inflated through the pneumatic circuit to shorten its shape, and at the same time, the uppermost pneumatic artificial muscle C (19) is deflated. One end of the multi-strand rope 21 is connected to the pneumatic artificial muscle A (17), and the other end is connected to one side of the multi-functional glove 22. During the deformation process of the pneumatic artificial muscles A (17) and C (19) in the vertical direction, the multi-functional glove 22 is driven to move downward to form a wrist flexion movement.

[0038] (4) Wrist rotation in the whole space

[0039] Step 1: First, keep the whole device in a pre-tightened state, and then use the winding drum motors of the two horizontal trolleys to make the two trolleys move along the T-shaped circular track at the same time, and the connecting line of the two trolleys passes through the center of the circular track until the two trolleys are close to the trolley in the vertical direction. Then, the main drive shafts of the two trolleys in the horizontal direction are controlled by the main drive shaft motors of the two trolleys to stop rotating, thereby stopping the two horizontal trolleys.

[0040] Step 2: The controller drives the winding drum motors of the two trolleys in the vertical direction, so that the two trolleys move along the T-shaped circular track at the same time, and the connecting line of the two trolleys passes through the center of the circular track, until the two trolleys are close to the two trolleys 11 that have already run in the vertical direction and the trolley opposite to them, and then the main drive shaft motors of the two trolleys are used to control the main drive shafts to stop rotating, thereby stopping the two trolleys.

[0041] Step 3: The controller drives the motor of the winding drum of the trolley 11 and the trolley opposite to it, so that the trolley 11 and the trolley opposite to it move along the T-shaped circular track at the same time, and the connecting line of the two trolleys passes through the center of the circular track, until the two trolleys approach the trolley in the vertical direction, and the main drive shaft motors of the trolley 11 and the trolley opposite to it respectively control the main drive shaft to stop rotating, so that the two trolleys stop. Through the first, second and third steps, each trolley rotates 180 degrees, so that the patient wearing the multifunctional glove 22 completes a 180-degree wrist joint rotation movement.

[0042] Step 4: The main drive motor is reversed through the controller until it returns to the initial position. This cycle can be repeated to achieve the circular rotation of the wrist joint continuously.

[0043] The elastic movement of inflation and deflation of the two symmetrical pneumatic artificial muscles in the horizontal direction and the two symmetrical pneumatic artificial muscles in the vertical direction of the T-shaped circular track can buffer the impact during upper arm rehabilitation exercise and avoid secondary injuries caused by the asynchronous rigid movement of the wire rope pulling (or releasing) of the winding drum on the horizontal or vertical trolley and the wire rope releasing (or pulling) of the winding drum on the symmetrical trolley.

[0044] The present specification uses specific examples to illustrate the principles and implementation methods of the present invention. The above implementation examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A multi-pneumatically driven rehabilitation robot device for wrist joints, characterized in that: The trolley (11) is located on the T-shaped circular track (23) in a horizontal direction relative to the T-shaped circular track, and the T-shaped circular track is connected to the bracket (8). In order to ensure the stability of the bracket, a base (10) is installed below the bracket. The trolley (11) is moved on the T-shaped circular track (23) by a winding drum motor; A winding drum motor (11-1) is installed on the trolley (11), and the motor shaft of the winding drum motor (11-1) is connected to the winding drum (11-3), and the winding drum (11-3) and the winding drum motor (11-1) are connected via a coupling (11-2) that can achieve common rotation and transmit torque; a main drive shaft (11-8) and a driven shaft (11-7) driven by a main drive shaft motor (11-4) are installed under the trolley and are connected via springs (11-5) to clamp the T-shaped annular track. Driven by the wheels (11-6), the trolley (11) can be kept in a state of starting, stopping and moving at any position; One end of the tension sensor B (16) is connected to the winding drum (11-3) via a rope, and the other end is connected to the pneumatic artificial muscle D (20). Similarly, the extension and retraction of the rope can also be achieved by using a pneumatic control system to drive the pneumatic artificial muscle D (20) to achieve extension and retraction movement. The tension sensor B (16) serves to pre-tighten the rope when the entire device starts to move. If the tension signal value received by the tension sensor B (16) is greater than the specified value of the rope pre-tightening force, the winding drum motor (11-1) on the trolley (11) stops rotating and the winding drum (11-3) stops, tightening the rope to maintain the pre-tightening force. On the other hand, if the tension signal value received by the tension sensor B (16) is less than the pre-tensioning force specified value, the winding drum motor (11-1) on the trolley (11) rotates to drive the winding drum (11-3) to continue tightening the rope until the tension signal value is equal to the pre-tensioning force specified value, at which time the winding drum motor (11-1) stops rotating and the tension is maintained; At the same time, the other end of the pneumatic artificial muscle D (20) is connected to four finger joints on one side of the multifunctional glove (22) through a rope. According to different disease characteristics of patients, the patient's hand can be inserted into the glove regardless of left or right hand or front or back, which reduces the trouble of wearing and is more humane. Similarly, relative to the right side of the T-shaped circular track, the trolley is located on the T-shaped circular track (23), and the device and installation and connection method on the trolley are the same as those on the left side of the T-shaped circular track; The other end of the winding drum is connected to one end of the pneumatic artificial muscle B (18) through a rope, wherein the pneumatic artificial muscle B (18) realizes the extension and retraction of the rope through another pneumatic control system, and realizes the displacement and angle change of the multifunctional glove (22) through the inflation and deflation of the pneumatic artificial muscle B (18); The other end of the pneumatic artificial muscle B (18) is connected to four finger joints on the other side of the multifunctional glove (22); The installation method and movement form of the mechanical device in the vertical direction relative to the T-shaped circular track are the same as those in the horizontal direction; The movement process is as follows: (1) The preload state of the entire device at the beginning At the beginning, relative to the horizontal direction of the T-shaped circular track, the two trolleys respectively clamp the T-shaped circular track through the main driving shaft and the driven shaft, and the wheels are driven by the springs to maintain the pre-tightened state of the entire motion mechanism in the horizontal direction through ropes under the drive of the winding drum motor; the pre-tightened state in the vertical direction relative to the T-shaped circular track is operated in the same way as in the horizontal direction; (2) Abduction / adduction of the wrist joint When the entire device is kept in a pre-tightened state, relative to the horizontal direction of the T-shaped circular track, first, the pneumatic artificial muscle D (20) is inflated through the pneumatic circuit to shorten its shape, and the pneumatic artificial muscle B (18) remains unchanged. One end of the multi-strand rope (21) is connected to the pneumatic artificial muscle D (20), and the other end is connected to one side of the multifunctional glove (22). During the deformation of the pneumatic artificial muscle D (20), the forearm is placed in the upper limb support body (9-2) and fixed by a strap, driving the multifunctional glove (22) to move to the left, forming a wrist joint adduction movement; Then, the pneumatic artificial muscle B (18) is inflated through a pneumatic circuit to shorten its shape, and the pneumatic artificial muscle D (20) is deflated at the same time. One end of a multi-strand rope (21) is connected to the pneumatic artificial muscle B (18), and the other end is connected to a plurality of finger joints on one side of the multi-functional glove (22). During the deformation of the pneumatic artificial muscle B (18) and the pneumatic artificial muscle D (20), the multi-functional glove (22) is driven to move rightward, thereby forming a wrist abduction movement. (3) Wrist flexion / extension exercise While the entire device is kept in a pre-tightened state, relative to the vertical direction of the T-shaped circular track, first, the pneumatic artificial muscle C (19) is inflated through the pneumatic circuit to shorten its shape, and the pneumatic artificial muscle A (17) remains unchanged. One end of the multi-strand rope (21) is connected to the pneumatic artificial muscle, and the other end is connected to multiple finger joints on one side of the multi-functional glove (22). During the deformation process of the pneumatic artificial muscle C (19), the forearm is placed in the upper limb support body (9-2) and fixed by a strap, so that the multi-functional glove (22) is driven to move upward, forming a wrist joint extension movement; Then, the pneumatic artificial muscle A (17) is inflated through a pneumatic circuit to shorten its shape, and the pneumatic artificial muscle C (19) is deflated at the same time. One end of a multi-strand rope (21) is connected to the pneumatic artificial muscle, and the other end is connected to one side of the multifunctional glove (22). During the deformation of the pneumatic artificial muscle A (17) and the pneumatic artificial muscle C (19), the multifunctional glove (22) is driven to move downward, thereby forming a wrist joint flexion movement. (4) Wrist rotation in the whole space Step 1: First, keep the whole device in a pre-tightened state, then drive the winding drum motor through the controller, so that the trolleys move along the T-shaped circular track at the same time, and the connecting line of the two trolleys passes through the center of the circular track, until the two trolleys are close to the trolley in the vertical direction, and the main drive shaft motor is used to control the main drive shaft to stop rotating, so that the two trolleys stop; Step 2: The controller drives the winding drum motor to make the two trolleys move along the T-shaped circular track at the same time, and the connecting line of the two trolleys passes through the center of the circular track until the two trolleys approach the trolley in the vertical direction, and the main drive shaft motor is used to control the main drive shaft to stop rotating, thereby stopping the two trolleys; Step 3: The controller drives the winding drum motor to make the two trolleys move along the T-shaped circular track at the same time, and the connecting line of the two trolleys passes through the center of the circular track until the two trolleys approach the trolley in the vertical direction, and the main drive shaft motor is used to control the main drive shaft to stop rotating, thereby stopping the two trolleys; The first, second and third steps complete the 180-degree rotation of each trolley, thereby enabling the patient wearing the multifunctional glove (22) to complete a 180-degree wrist rotation movement; Step 4: The main drive motor is reversed through the controller until it returns to the initial position; Such reciprocating movement can realize the circumferential movement of the wrist joint repeatedly and uninterruptedly.

2. The multi-pneumatically driven rehabilitation robot device for wrist joints according to claim 1, characterized in that: The trolley (11) is located on the T-shaped circular track (23) in a horizontal direction relative to the T-shaped circular track, and the T-shaped circular track is connected to the bracket (8); the trolley (11) moves on the T-shaped circular track (23) by means of a winding drum motor; a winding drum motor (11-1) is installed on the trolley (11), and the motor shaft of the winding drum motor (11-1) is connected to the winding drum (11-3), and the winding drum (11-3) and the winding drum motor (11-1) are connected via a coupling (11-2) that can realize common rotation and transmit torque; A main drive shaft (11-8) and a driven shaft (11-7) driven by a main drive shaft motor (11-4) are installed under the trolley and are connected via springs (11-5) to clamp the T-shaped annular track. Driven by the wheels (11-6), the trolley (11) can be kept in a stopped or moving state at any position.

3. The multi-pneumatically driven rehabilitation robot device for wrist joints according to claim 1, characterized in that: The pneumatic control system realizes inflation and deflation through a pneumatic artificial muscle C (19) connected to one end of a multi-strand rope (21), thereby driving the movement of a multifunctional glove (22) connected to the other end. The multifunctional glove (22) takes into account the special needs of different patients. For patients with wrist injuries in different parts of the body, a multifunctional glove is designed that can be used at any time without distinguishing between the left and right hands or the front and back of the hands. The glove adopts a rigid epidermal structure on the outside and a soft material on the inside to ensure that the patient's hands and wrists are not subject to secondary injuries during the rehabilitation process.

4. The multi-pneumatically driven rehabilitation robot device for wrist joints according to claim 1, characterized in that: The patient inserts his hand into the multifunctional glove (22) and at the same time places his arm on the upper limb support (9-2) of the chair (9) and fixes it with a strap. The part where the upper limb support (9-2) is connected to the chair body (9-1) is connected via two retractable pillars with bolt holes. The height of the upper limb support (9-2) can be changed by adjusting the position of the bolt, thereby performing special rehabilitation treatment on the patient's wrist joint.

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