Multi-degree of freedom hand support device

Abstract

The application provides a multi-degree-of-freedom hand support device, which can be adjusted at different angles, and the device comprises a hand support, a first degree-of-freedom adjusting mechanism and a second degree-of-freedom adjusting mechanism; wherein the first degree-of-freedom adjusting mechanism comprises an arc-shaped slide rail, a slide piece and a first self-locking assembly, the slide piece is arranged at the bottom of the hand support, the slide piece is slidably arranged on the arc-shaped slide rail and can be freely adjusted in position along the slide rail, and the first self-locking assembly is arranged on the slide piece to self-lock the relative position of the slide piece and the slide rail; the second degree-of-freedom adjusting mechanism comprises a second degree-of-freedom adjusting seat, a second degree-of-freedom adjusting pivot and a second self-locking assembly, the arc-shaped slide rail is adjustably arranged on the second degree-of-freedom adjusting seat along the axial position through the second degree-of-freedom adjusting pivot, and the second self-locking assembly is arranged on the second degree-of-freedom adjusting seat to self-lock the relative position of the slide rail and the second degree-of-freedom adjusting pivot.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of limb rehabilitation, in particular to a multi-degree-of-freedom hand support device. BACKGROUND

[0002] Modern society is a high-speed era, technology is changing rapidly, people's life rhythm is accelerating rapidly, and life pressure is gradually increasing. In such an environment, loss of action ability or movement ability disorder will bring many inconveniences to people's life, which greatly affects the quality of life. Therefore, how to help patients recover the action ability and live independently and freely has become a research hotspot in the field of rehabilitation medicine and engineering.

[0003] Among the functional disabilities caused by nervous system damage, the most affected patient function is the functional disability of the upper limb system. The main symptoms of arm disability include: joint function decline, specific muscle weakness, loss of joint coordination ability, reduced arm movement range, and inability to exert force on the arm.

[0004] Therefore, a part of the medical antagonistic rehabilitation training instrument is often to train a certain part of the user. Before each training, the user usually cannot accurately correspond the part to be trained to the specific part of the medical antagonistic rehabilitation training instrument. Therefore, the position of the hand support needs to be placed according to the degree and way of the user's arm disability, but as the rehabilitation training continues, the part of the user that needs to be trained may deviate from the corresponding part of the medical antagonistic rehabilitation training instrument, at which time the user himself often cannot correct it. Therefore, we need to propose a hand support that can be adjusted in multiple degrees of freedom to adapt to the arm visit angle of different patients or different rehabilitation degrees of the same patient in real time. SUMMARY

[0005] The present application aims to solve the problem of inconvenient auxiliary rehabilitation training caused by different hand positions of each patient due to the degree of hand disability or the degree of arm rehabilitation of the same patient. To this end, the present application provides a multi-degree-of-freedom hand support device that can be adjusted at different angles, characterized by comprising:

[0006] a hand support;

[0007] a first degree-of-freedom adjustment mechanism, the first degree-of-freedom adjustment mechanism comprising an arc-shaped slide rail, a slide piece and a first self-locking assembly, the slide piece being arranged at the bottom of the hand support, the slide piece being slidably arranged on the arc-shaped slide rail and being freely adjusted in position along the slide rail, the first self-locking assembly being arranged on the slide piece to self-lock the relative positions of the slide piece and the slide rail;

[0008] The second degree of freedom adjusting mechanism comprises a second degree of freedom adjusting base, a second degree of freedom adjusting rotating shaft and a second self-locking assembly, the arc-shaped slide rail is adjustably installed on the second degree of freedom adjusting base along the axial position through the second degree of freedom adjusting rotating shaft, and the second self-locking assembly is arranged on the second degree of freedom adjusting base to self-lock the relative position of the slide rail and the second degree of freedom adjusting rotating shaft.

[0009] The beneficial effects of the above technical solutions are:

[0010] The arc-shaped slide rail on the first degree of freedom adjusting mechanism can be used for height adjustment of the arm and axial rotation adjustment of the arm, the second degree of freedom adjusting mechanism is used for adjusting the overall angle of the first degree of freedom adjusting mechanism and simultaneously adjusting the angle of the arm, and the combined adjustment of the first degree of freedom adjusting mechanism and the second degree of freedom adjusting mechanism can achieve any placement position of the arm, thereby facilitating the external power mechanism to assist in lifting / lowering the arm, helping the patient with arm use disorder to perform rehabilitation auxiliary training, and thereby more effectively recovering.

[0011] As a preferred embodiment of the embodiment, the sliding piece comprises a sliding base and a pulley, the pulley is installed on the sliding base, and the pulley slides in the arc-shaped slide rail.

[0012] As a preferred embodiment of the embodiment, the arc-shaped slide rail is a double-row arc-shaped groove rail, and two arc-shaped groove rails are oppositely arranged on the two sides of the arc-shaped slide rail.

[0013] As a preferred embodiment of the embodiment, the sliding base is a U-shaped sliding base, the number of the pulleys is two groups, two groups of the pulleys are respectively arranged on the inner sides of the U-shaped opening of the U-shaped sliding base, and the U-shaped sliding base is clamped on the double-row arc-shaped groove rail.

[0014] As a preferred embodiment of the embodiment, the first self-locking assembly comprises a first self-locking block, a first self-locking push rod and a first self-locking knob, the first self-locking block is connected to one end of the first self-locking push rod and is axially movable, the sliding base is provided with a threaded hole, the first self-locking push rod is provided with a thread and is screw-connected in the threaded hole and is adjustable in the threaded position, the first self-locking knob is fixedly connected to the other end of the self-locking screw rod, and the first self-locking block is located in the sliding base and faces the arc-shaped slide rail.

[0015] As a preferred embodiment of the embodiment, the first self-locking block is provided with a friction pad.

[0016] As a preferred embodiment of the first embodiment, the second self-locking assembly comprises a second self-locking gear, a second self-locking tooth block, a second return spring and a second self-locking torsion bar; the second self-locking gear is sleeved on the second degree-of-freedom adjusting shaft, the second self-locking tooth block is installed on the second degree-of-freedom adjusting seat through the second return spring, the second self-locking tooth block has a force receiving surface, one end of the second self-locking torsion bar is pivotally connected to the second degree-of-freedom adjusting seat, and the end of the second self-locking torsion bar has a force applying surface; the second self-locking torsion bar is rotated through the pivot point to apply force to the force applying surface to press the second self-locking tooth block against the second self-locking gear to be locked in engagement, and the second return spring accumulates elastic potential energy.

[0017] As a preferred embodiment of the first embodiment, the third degree-of-freedom adjusting mechanism further comprises a third degree-of-freedom adjusting seat, a third degree-of-freedom adjusting shaft and a third self-locking assembly; the third degree-of-freedom adjusting seat is connected to the second degree-of-freedom adjusting seat through a connecting rod, the third degree-of-freedom adjusting shaft is arranged on the third degree-of-freedom adjusting seat through the third self-locking assembly, and the third degree-of-freedom adjusting shaft is connected to an external power-assisted lifting rod.

[0018] As a preferred embodiment of the first embodiment, the third self-locking assembly comprises a third self-locking gear, a third self-locking tooth block, a third return spring and a third self-locking torsion bar; the third self-locking gear is sleeved on the third degree-of-freedom adjusting shaft, the third self-locking tooth block is installed on the third degree-of-freedom adjusting seat through the third return spring, the third self-locking tooth block has a force receiving surface, one end of the third self-locking torsion bar is pivotally connected to the third degree-of-freedom adjusting seat, and the end of the third self-locking torsion bar has a force applying surface; the third self-locking torsion bar is rotated through the pivot point to apply force to the force applying surface to press the third self-locking tooth block against the third self-locking gear to be locked in engagement, and the third return spring accumulates elastic potential energy.

[0019] As a preferred embodiment of the first embodiment, the connecting rod is a special-shaped rod, the special-shaped rod comprises a height-lowering rod body and a connecting rod body, the connecting rod body is inserted into the second degree-of-freedom adjusting seat, and the height-lowering rod body is connected to the connecting rod body and the second degree-of-freedom adjusting shaft. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 A perspective view expressing a perspective of the first degree-of-freedom adjusting mechanism of the application.

[0021] Figure 2 A perspective view expressing a perspective of the first degree-of-freedom adjusting mechanism of the application.

[0022] Figure 3 A perspective view expressing a perspective of the first degree-of-freedom adjusting mechanism of the application.

[0023] Figure 4 The structure diagram of the application is expressed as a slider.

[0024] Figure 5 The structure diagram of the application is expressed as a slider.

[0025] Figure 6 The structure diagram of the application is expressed as a slider.

[0026] Figure 7 The structure diagram of the application is expressed as a slider.

[0027] Figure 8 The structure diagram of the application is expressed as a slider. DETAILED DESCRIPTION

[0028] The preferred embodiments in the following description are only examples for illustration, and other obvious variations can be conceived by those skilled in the art. The basic principles of the application defined in the following description can be applied to other embodiments, variations, improvements, equivalents and other technical solutions without departing from the spirit and scope of the application.

[0029] Those skilled in the art should understand that in the disclosure of the application, the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the above-mentioned terms cannot be understood as a limitation of the application.

[0030] Please refer to Figures 1-6The application aims to solve the problem that the robot for assisting power rehabilitation is difficult to cooperate with the position of rehabilitation treatment due to different positions of hands caused by the degree of disability of each patient's hand. To this end, the application provides a multi-degree-of-freedom hand support device which can be adjusted at different angles, comprising a hand support 1, a first degree-of-freedom adjusting mechanism and a second degree-of-freedom adjusting mechanism 3; wherein the first degree-of-freedom adjusting mechanism comprises an arc-shaped sliding rail 21, a sliding piece 23 and a first self-locking assembly 22, the sliding piece 23 is arranged at the bottom of the hand support 1, the sliding piece 23 is slidingly arranged on the arc-shaped sliding rail 21 and can be freely adjusted in position along the sliding rail, and the first self-locking assembly 22 is arranged on the sliding piece 23 to self-lock the relative position of the sliding piece 23 and the arc-shaped sliding rail 21; the second degree-of-freedom adjusting mechanism 3 comprises a second degree-of-freedom adjusting seat 31, a second degree-of-freedom adjusting shaft 32 and a second self-locking assembly, the arc-shaped sliding rail 21 is adjustably mounted on the second degree-of-freedom adjusting seat 31 along the shaft center position through the second degree-of-freedom adjusting shaft 32, and the second self-locking assembly is arranged on the second degree-of-freedom adjusting seat 31 to self-lock the relative position of the sliding rail and the second degree-of-freedom adjusting shaft 32. The scheme described in the embodiment can adjust the height of the arm through the arc-shaped sliding rail 21 on the first degree-of-freedom adjusting mechanism, and can adjust the axial rotation of the arm; the second degree-of-freedom adjusting mechanism 3 aims to adjust the overall angle of the first degree-of-freedom adjusting mechanism, and at the same time, the angle adjustment of the arm is connected; that is, the combined adjustment of the first degree-of-freedom adjusting mechanism and the second degree-of-freedom adjusting mechanism 3 can achieve any placement position of the arm, thereby facilitating the external power mechanism to assist in lifting / lowering the arm for auxiliary training, helping the patient with arm use disorder to perform rehabilitation auxiliary training, and thereby more effectively recovering.

[0031] The application will be specifically explained in combination with the drawings:

[0032] Please refer to Figures 1-6 ,

[0033] Please refer to Figure 3 and Figure 4 , the sliding piece 23 comprises a sliding seat 232 and a pulley 231, the pulley 231 is mounted on the sliding seat 232, and the pulley 231 slides in the arc-shaped sliding rail 21. Further, the arc-shaped sliding rail 21 is a double-row arc-shaped groove rail 211, two arc-shaped groove rails are oppositely arranged on the two sides of the arc-shaped sliding rail 21 with the notches opposite. Further, the sliding seat 232 is a U-shaped sliding seat, the number of the pulleys 231 is two groups, two groups of the pulleys 231 are respectively arranged on the inner two sides of the U-shaped opening of the U-shaped sliding seat, and the U-shaped sliding seat is clamped on the double-row arc-shaped groove rail 211.

[0034] Specifically, the two sets of pulleys 231 on the U-shaped opening of the U-shaped sliding seat abut against the bottom of the arc-shaped groove rail, thereby forming a stable sliding mechanism. In order to achieve the effect of silence, as a preferred embodiment of the present embodiment, each set of pulleys 231 is installed in two different directions, as shown in Figure 4 the pulleys 231 roll on the bottom surface and the side surface of the arc-shaped groove rail, so that there is no gap between the pulleys 231 and the arc-shaped groove rail, and no collision noise is generated due to the gap, achieving the effect of silence. Preferably, the pulleys 231 are selected as bearings, and further, limiting blocks 233 are arranged at both ends of each set of pulleys 231 to prevent the pulleys 231 from colliding with both ends of the arc-shaped groove rail.

[0035] Please refer to Figure 3 and Figure 4 In order to be able to fix the handrest 1 at any position on the arc-shaped sliding rail 21, the present embodiment provides a first self-locking assembly 22. Specifically, the first self-locking assembly 22 includes a first self-locking block 221, a first self-locking push rod 222, and a first self-locking knob. The first self-locking block 221 is connected to one end of the first self-locking push rod 222 and can flexibly rotate in the axial direction. The sliding seat 232 is provided with a threaded hole (please refer to Figure 3 , in this schematic view, the threaded hole is shown in a cross-sectional view), the first self-locking push rod 222 has a thread and is connected to the threaded hole through the thread, so that the position is adjustable, the first self-locking knob 224 is fixedly connected to the other end of the first self-locking push rod 222, and the first self-locking block 221 is located inside the sliding seat 232 and faces the arc-shaped sliding rail 21. Specifically, the first self-locking push rod 222 is rotated to be screwed in and out, thereby pushing the first self-locking block 221 to abut against the arc-shaped sliding rail 21 to complete self-locking, and the first self-locking knob 224 is used to facilitate rotation.

[0036] Alternatively, another embodiment of the present embodiment is that the first self-locking assembly 22 includes a first self-locking block 221, a first self-locking push rod 222, a first self-locking knob, and a first spring. Meanwhile, the sliding seat 232 is provided with a through hole, the first spring is arranged in the through hole, the first self-locking push rod 222 is inserted into the through hole, the first self-locking knob is arranged at one end outside the first self-locking push rod 222, and the first self-locking block 221 is arranged at one end of the first self-locking push rod 222 facing the arc-shaped sliding rail 21. Specifically, the first self-locking knob is pressed to push the first self-locking push rod 222, the first self-locking push rod 222 pushes the first self-locking block 221 to press the arc-shaped sliding rail 21 to complete self-locking.

[0037] As a preferred embodiment of the present embodiment, the first self-locking block 221 is provided with a friction pad 223 to provide stability for self-locking.

[0038] As described above, the second degree of freedom adjusting mechanism 3 comprises a second degree of freedom adjusting seat 31, a second degree of freedom adjusting rotating shaft 32 and a second self-locking assembly. The bottom of the arc-shaped slide rail 21 is fixedly installed on the second degree of freedom adjusting rotating shaft 32 through a first mounting seat 29, and the second degree of freedom adjusting rotating shaft 32 is adjustably installed on the second degree of freedom adjusting seat 31 along the axial position (specifically, the second degree of freedom adjusting rotating shaft 32 is arranged on the second degree of freedom adjusting seat 31). The second self-locking assembly is arranged on the second degree of freedom adjusting seat and self-locks the relative rotating position of the slide rail and the second degree of freedom adjusting rotating shaft 32. The second degree of freedom adjusting seat 31 is arranged below the first degree of freedom adjusting mechanism. The second self-locking assembly comprises a second self-locking gear 33, a second self-locking tooth block 35, a second reset spring 36 and a second self-locking torsion bar 34. The second self-locking gear 33 is sleeved on the second degree of freedom adjusting rotating shaft 32. The second self-locking tooth block 35 is installed on the second degree of freedom adjusting seat 31 through the second reset spring 36. The second self-locking tooth block 35 has a force receiving surface. One end of the second self-locking torsion bar 34 is pivotally connected to the second degree of freedom adjusting seat 31, and the end of the second self-locking torsion bar 34 has a force applying surface. The second self-locking torsion bar 34 is rotated through the pivot connection point 38 to apply force to the force applying surface to tightly press the second self-locking tooth block 35 to be locked by the meshing of the tooth segment 351 and the second self-locking gear 33. The second reset spring 36 accumulates elastic potential energy.

[0039] Specifically, the second degree of freedom adjusting seat 31 is provided with a second mounting seat 37. The second self-locking tooth block 35 has a second mounting portion 352. The second mounting seat 37 is provided with a second mounting rod. The second mounting portion 352 has a through hole sleeved on the second mounting rod. The second reset spring 36 is sleeved on the second mounting rod and located between the second mounting seat 37 and the second mounting portion 352 of the second self-locking tooth block 35. First, the second self-locking torsion bar 34 is twisted to apply force to the force receiving surface to push the tooth segment 351 of the second self-locking tooth block 35 to mesh with the second self-locking gear 33, thereby self-locking the second degree of freedom adjusting rotating shaft 32 sleeved on the second self-locking gear 33, and completing the self-locking of the second degree of freedom adjusting rotating shaft 32. At this time, the second reset spring 36 is in a compressed state and stores elastic potential energy. However, the force applying surface of the second self-locking torsion bar 34 abuts against the force receiving surface, the direction of the force is opposite to the direction of the elastic potential energy, and the second reset spring 36 cannot be reset. When the second self-locking torsion bar 34 is twisted back, the elastic potential energy makes the second reset spring 36 reset and pull the second self-locking tooth block 35 to reset.

[0040] Please refer to Figure 7 and Figure 8, in order to further adjust the height and the large angle of the hand rest 1, as a preferred embodiment of the present embodiment, the application further comprises a third degree of freedom adjusting mechanism 4, which comprises a third degree of freedom adjusting seat 41, a third degree of freedom adjusting pivot 42 and a third self-locking assembly; the third degree of freedom adjusting seat 41 is connected to the second degree of freedom adjusting seat 31 through a connecting rod, the third degree of freedom adjusting pivot 42 is provided on the third degree of freedom adjusting seat 41 through the third self-locking assembly, and the third degree of freedom adjusting pivot 42 is connected with the external power-assisted lifting rod 6.

[0041] As a preferred embodiment of the present embodiment, the third self-locking assembly comprises a third self-locking gear 43, a third self-locking tooth block 45, a third reset spring 46 and a third self-locking torsion bar 44; the third self-locking gear 43 is sleeved on the third degree of freedom adjusting pivot 42, the third self-locking tooth block 45 is installed on the third degree of freedom adjusting seat 41 through the third reset spring 46, the third self-locking tooth block 45 is provided with a force receiving surface, one end of the third self-locking torsion bar 44 is pivoted to the third degree of freedom adjusting seat 41, and the end of the third self-locking torsion bar 44 is provided with a force applying surface; the third self-locking torsion bar 44 is rotated through the pivoting point to make the force applying surface apply force to the force receiving surface to tightly press the third self-locking tooth block 45 to engage and lock the third self-locking gear 43 through the tooth segment 451, and the third reset spring 46 accumulates elastic potential energy. Specifically, the third degree of freedom adjusting seat 41 is provided with a third mounting seat 47, the third self-locking tooth block 45 is provided with a third mounting portion 452, the third mounting seat 47 is provided with a third mounting rod, the third mounting portion 452 is provided with a through hole sleeved on the third mounting rod, and the third reset spring 46 is sleeved on the third mounting rod and located between the third mounting seat 47 and the third mounting portion 452 of the third self-locking tooth block 45. First, the third self-locking torsion bar 44 is twisted to make the force applying surface apply force to the force receiving surface to push the third self-locking tooth block 45 to engage with the third self-locking gear 43, so as to self-lock the third degree of freedom adjusting pivot 42 sleeved with the third self-locking gear 43, thereby completing the self-locking of the third degree of freedom adjusting pivot 42. At this time, the third reset spring 46 is in a compressed state and stores elastic potential energy, but the force applying surface of the third self-locking torsion bar 44 abuts against the force receiving surface, the direction of the force is opposite to the direction of the elastic potential energy, and the third reset spring 46 cannot be reset; after the third self-locking torsion bar 44 is twisted back, the elastic potential energy makes the third reset spring 46 reset and pull the third self-locking tooth block 45 to reset.

[0042] The third degree of freedom adjusting mechanism 4 can control the relative rotation angle with the third degree of freedom adjusting seat by the axial rotation of the third degree of freedom adjusting shaft 42. In order to achieve the large adjustment effect, the connecting rod is a special-shaped rod, which includes a height-lowering rod body 52 and a connecting rod body 51. The height-lowering rod body 52 is inserted into the third degree of freedom adjusting seat, and the connecting rod body 51 is connected to the height-lowering rod body 52 and the second degree of freedom adjusting seat. Specifically, the height-lowering rod body is a curved rod, thereby achieving the above effect. More specifically, the height-lowering rod body 52 is coaxial with or integrally prepared with the third degree of freedom adjusting shaft 42; the connecting rod body 51 is coaxial with or integrally prepared with the height-lowering rod body 52 and the second degree of freedom adjusting shaft 32.

[0043] As a preferred option of the embodiment, the hand support is divided into a support seat 12 and a hand support body 11. The support seat 12 is installed with the first degree of freedom adjusting seat. The left and right sides of the hand support body 11 are provided with two hand support mounting holes (not shown in detail). The support seat 12 is provided with a mounting key 71. One of the hand support mounting holes of the hand support body 11 is mounted on the mounting key 71 to complete the fixation. If the hand support needs to be replaced in the direction, it is only necessary to rotate the hand support body 11 to install the other hand support mounting hole on the mounting key 71.

[0044] It should be understood by those skilled in the art that the embodiments of the application shown in the above description are only examples and do not limit the application. The purpose of the application has been fully and effectively achieved. The function and structural principle of the application have been shown and described in the embodiments. Without departing from the principle, the embodiments of the application can be any modification or modification.

Claims

1. A multi-degree-of-freedom hand support apparatus characterized by comprising: It comprises: a hand support; a first degree of freedom adjusting mechanism, which comprises an arc-shaped slide rail, a slide and a first self-locking assembly, the slide is arranged at the bottom of the hand support, the slide is slidingly arranged on the arc-shaped slide rail and can be freely adjusted in position along the slide rail, and the first self-locking assembly is arranged on the slide to self-lock the relative position of the slide and the slide rail; a second degree of freedom adjusting mechanism, which comprises a second degree of freedom adjusting seat, a second degree of freedom adjusting shaft and a second self-locking assembly, the arc-shaped slide rail is mounted on the second degree of freedom adjusting shaft through the second degree of freedom adjusting seat and can be adjusted in position along the shaft center, and the second self-locking assembly is arranged on the second degree of freedom adjusting seat to self-lock the relative position of the second degree of freedom adjusting shaft; the second self-locking assembly comprises a second self-locking gear, a second self-locking tooth block, a second return spring and a second self-locking torsion bar; the second self-locking gear is sleeved on the second degree of freedom adjusting shaft, the second self-locking tooth block is mounted on the second degree of freedom adjusting seat through the second return spring, the second self-locking tooth block has a force receiving surface, one end of the second self-locking torsion bar is pivotally connected to the second degree of freedom adjusting seat, and the end of the second self-locking torsion bar has a force applying surface; the second self-locking torsion bar is rotated through the pivot point to make the force applying surface apply force to the force receiving surface to tightly press the second self-locking tooth block and the second self-locking gear into engagement and locking, and the second return spring accumulates elastic potential energy.

2. The multi-degree-of-freedom hand support apparatus according to claim 1, wherein the slide comprises a slide seat and a pulley, the pulley is mounted on the slide seat, and the pulley slides in the arc-shaped slide rail.

3. The multi-degree-of-freedom hand support apparatus according to claim 2, wherein the arc-shaped slide rail is a double-row arc-shaped groove rail, two arc-shaped groove rails are oppositely arranged on the two sides of the arc-shaped slide rail.

4. The multi-degree-of-freedom hand support apparatus according to claim 3, wherein the slide seat is a U-shaped slide seat, the number of the pulleys is two groups, two groups of the pulleys are respectively arranged on the inner sides of the U-shaped opening of the U-shaped slide seat, and the U-shaped slide seat is clamped on the double-row arc-shaped groove rail.

5. The multi-degree-of-freedom hand support apparatus according to any one of claims 2 to 4, characterized by the first self-locking assembly comprises a first self-locking block, a first self-locking push rod and a first self-locking knob; the first self-locking block is connected to one end of the first self-locking push rod and can move in the axial direction, the slide seat is provided with a threaded hole, the first self-locking push rod has a thread, and the thread is connected in the threaded hole and can be adjusted in position through the thread, the first self-locking knob is fixedly connected to the other end of the first self-locking push rod, and the first self-locking block is located in the inner surface of the slide seat and faces the arc-shaped slide rail.

6. The multi-degree-of-freedom hand support apparatus according to claim 5, wherein a friction pad is arranged on the first self-locking block.

7. The multi-degree-of-freedom hand support apparatus according to claim 1, wherein It further comprises a third degree of freedom adjusting mechanism, which comprises a third degree of freedom adjusting seat, a third degree of freedom adjusting shaft and a third self-locking assembly; the third degree of freedom adjusting seat is connected to the second degree of freedom adjusting seat through a connecting rod, the third degree of freedom adjusting shaft is arranged on the third degree of freedom adjusting seat through the third self-locking assembly, and the third degree of freedom adjusting shaft is connected with an external power-assisted lifting rod.

8. The multi-degree-of-freedom hand support apparatus according to claim 7, wherein The third self-locking assembly comprises a third self-locking gear, a third self-locking tooth block, a third reset spring and a third self-locking torsion bar; the third self-locking gear is sleeved on the third degree-of-freedom adjusting shaft, the third self-locking tooth block is installed on the third degree-of-freedom adjusting seat through the third reset spring, the third self-locking tooth block has a force receiving surface, one end of the third self-locking torsion bar is pivotally connected to the third degree-of-freedom adjusting seat, and the end of the third self-locking torsion bar has a force applying surface; the third self-locking torsion bar is rotated through the pivot point to make the force applying surface apply force to the force receiving surface to tightly press the third self-locking tooth block and the third self-locking gear to be engaged and locked, and the third reset spring accumulates elastic potential energy.

9. The multi-degree-of-freedom hand support apparatus according to claim 8, wherein The connecting rod is a special-shaped rod, which comprises a height-lowering rod body and a connecting rod body, the connecting rod body is inserted into the second degree-of-freedom adjusting seat, and the height-lowering rod body is connected to the connecting rod body and the second degree-of-freedom adjusting shaft.

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