Finger sleeve for hand rehabilitation robot and hand rehabilitation robot

Abstract

The present invention is applicable to the technical field of hand rehabilitation robots, and provides a finger sleeve for a hand rehabilitation robot and a hand rehabilitation robot. The finger sleeve includes an electromagnetic component connectable to the hand rehabilitation robot and a finger sleeve component that can be controlled to be attracted or separated by energizing or de-energizing the electromagnetic component. A positioning structure is provided between the electromagnetic component and the finger sleeve component. The hand rehabilitation robot includes a rehabilitation manipulator component and the above-mentioned finger sleeve; the rehabilitation manipulator component has a plurality of finger joints driven by a power device, and the electromagnetic component of the finger sleeve is connected to the finger joint and connected to a power supply module. The finger sleeve for a hand rehabilitation robot and the hand rehabilitation robot provided by the present invention use the energization and de-energization of an electromagnet to control the attraction and separation of the finger sleeve component, thereby controlling the fixation and separation of each moving part of the finger from the hand rehabilitation robot, with convenient operation, easy disinfection of the finger sleeve component, and good user experience.

Description

Technical Field

[0001] The present invention belongs to the technical field of hand rehabilitation robots, and particularly relates to a finger sleeve for a hand rehabilitation robot and a hand rehabilitation robot. Background Art

[0002] At present, the methods for improving and rehabilitating patients with impaired hand motor function at home and abroad mainly strengthen the strength exercise of muscles and tendons through rehabilitation manipulators (hand rehabilitation robots) and complete motor learning to reconstruct or improve the hand motor function of patients. Among them, the wearing of the rehabilitation manipulator is very important. The existing rehabilitation manipulators are very difficult to wear. Users need to perform wearing operations on the rehabilitation manipulator. When operating, each finger needs to pass through each finger ring on the rehabilitation manipulator. Most of the existing wearing methods use binding straps or hook-and-loop fasteners fixed on the components of the rehabilitation manipulator for driving finger movement. When the patient wears it, the hand needs to be fitted with the entire rehabilitation manipulator, and then the binding straps or hook-and-loop fasteners fixed on the moving components of the rehabilitation manipulator are tied to each part of the finger one by one. The operation is not convenient and the user experience is poor. Moreover, due to the inability to grasp the tightness of the binding, the wearing comfort is poor, and the binding straps or hook-and-loop fasteners are prone to loosen after wearing, resulting in the entire rehabilitation manipulator not fitting well with the patient's fingers after wearing, thus weakening the rehabilitation effect. Summary of the Invention

[0003] The purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art, and provide a finger sleeve for a hand rehabilitation robot and a hand rehabilitation robot, which are convenient to operate, have good use effects and excellent user experience.

[0004] The technical solution of the present invention is: a finger sleeve for a hand rehabilitation robot, including an electromagnetic component connectable to the hand rehabilitation robot and a finger sleeve component that can be controlled to be attracted or released by energizing or de-energizing the electromagnetic component, and a positioning structure is provided between the electromagnetic component and the finger sleeve component.

[0005] Optionally, the positioning structure is a concave-convex plug-in matching structure provided between the electromagnetic component and the finger sleeve component.

[0006] Optionally, the concave-convex plug-in matching structure includes a plug hole provided on the electromagnetic component and a protrusion provided on the finger sleeve component and insertable into the plug hole;

[0007] Or, the concave-convex plug-in matching structure includes a plug hole provided on the finger sleeve component and a protrusion provided on the electromagnetic component and insertable into the plug hole.

[0008] Optionally, the electromagnetic component has an effective magnetic attraction surface, and the finger sleeve component has an adsorption surface that can cooperate with the magnetic attraction surface, and the size of the effective magnetic attraction surface is not less than the size of the adsorption surface.

[0009] Optionally, the finger sleeve assembly includes a connection base magnetically connectable to the electromagnetic assembly and a finger ring connected to the connection base; the finger ring is a rigid ring or a flexible ring.

[0010] Optionally, the electromagnetic assembly includes a housing and an electromagnetic core assembly disposed within the housing. The insertion hole is disposed on the front surface of the housing, and the electromagnetic core assembly is located at the bottom of the insertion hole. The back surface of the housing is connected to the hand rehabilitation robot by a locking member or a snap structure.

[0011] Optionally, the connection base includes a magnetic adsorption sheet, a seat body, and a locking member. The locking member is connected to the magnetic adsorption sheet and the seat body, and the finger ring is connected between the magnetic adsorption sheet and the seat body.

[0012] Optionally, the finger ring includes replacement finger rings of at least two diameter specifications.

[0013] The present invention also provides a hand rehabilitation robot, including a rehabilitation manipulator component and the above-mentioned finger sleeve; the rehabilitation manipulator component has a plurality of finger joints driven by a power device, and the electromagnetic assembly of the finger sleeve is connected to the finger joint and connected to a power supply module.

[0014] Optionally, an electromagnet core that generates magnetic force when energized or eliminates magnetic force when energized is disposed within the electromagnetic assembly.

[0015] A finger sleeve and a hand rehabilitation robot for a hand rehabilitation robot provided by the present invention control the attraction and separation of the finger sleeve assembly by energizing and de-energizing an electromagnet, thereby controlling the fixation and separation of each moving part of the finger from the hand rehabilitation robot. The electromagnet is not limited to demagnetizing when energized and having magnetic attraction when de-energized; it can also have magnetic attraction when energized and demagnetize when de-energized.

[0016] The finger sleeve for a hand rehabilitation robot and the hand rehabilitation robot provided by the embodiments of the present invention can first wear each finger sleeve component separately on the corresponding finger joint. The degree of freedom of wearing is high, and there is no need to directly perform the wearing operation on the hand rehabilitation robot. The wearing operation is convenient. After wearing each finger sleeve component on the corresponding finger joint, then bring the finger close to the electromagnetic component of the hand rehabilitation robot, and energize the electromagnetic component to generate magnetic force, so as to adsorb the finger sleeve component. With the positioning of the alignment structure, the finger sleeve component can be well connected to the hand rehabilitation robot through the electromagnetic component. The wearing operation is convenient. The user can directly put on the finger sleeve on the finger without using a bundling band or a magic tape, avoiding loosening and being beneficial to ensuring the rehabilitation effect. When it is necessary to disconnect from the hand rehabilitation robot, only need to cut off the power of the electromagnetic component, and the magnetic force of the electromagnetic component disappears. The user can directly disconnect from the hand rehabilitation robot. At this time, the user can freely remove each finger sleeve component, and it is convenient to disinfect the finger sleeve component, and the user experience is good. Brief Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Figure 1 is a three-dimensional exploded schematic view of the finger sleeve for a hand rehabilitation robot provided by the embodiments of the present invention;

[0019] Figure 2 is a three-dimensional exploded schematic view of the finger sleeve for a hand rehabilitation robot provided by the embodiments of the present invention;

[0020] Figure 3 is a plan view of the finger sleeve for a hand rehabilitation robot provided by the embodiments of the present invention;

[0021] Figure 4 is Figure 3 the cross-sectional schematic view of the A-A section in

[0022] Figure 5 is an exploded schematic view of the hand rehabilitation robot connecting the finger sleeve provided by the embodiments of the present invention;

[0023] Figure 6 is an assembled schematic view of the hand rehabilitation robot connecting the finger sleeve provided by the embodiments of the present invention. Detailed Embodiments

[0024] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0025] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0026] It should also be noted that the terms of orientation such as left, right, up, and down in the embodiments of the present invention are only relative concepts to each other or are referenced based on the normal use state of the product, and should not be considered restrictive.

[0027] As Figures 1 to 6 shown, a finger sleeve for a hand rehabilitation robot provided in an embodiment of the present invention includes an electromagnetic component 200 that can be fixedly connected to the hand rehabilitation robot and a finger sleeve component 100 that can be attracted by the energization or de-energization of the electromagnetic component. The finger sleeve component 100 can be connected to the electromagnetic component 200 by the magnetic attraction of the electromagnetic component 200. The electromagnetic component 200 can be pre-fixed at the corresponding position of the hand rehabilitation robot, and the electromagnetic components 200 can be respectively arranged on the respective moving finger joints of the hand rehabilitation robot. A positioning structure is provided between the electromagnetic component 200 and the finger sleeve component 100 so that the finger sleeve component 100 can be accurately connected to the electromagnetic component 200, and the rehabilitation effect is good. The electromagnetic component 200 can generate magnetism when energized. The finger sleeve component 100 can be put on the user's finger joints and can be attracted by the magnetic force. When the user uses it, each finger sleeve component 100 can be individually worn (put on) on the corresponding finger joints first. The degree of freedom of wearing (putting on) is high, and there is no need to directly perform the wearing operation on the hand rehabilitation robot. The wearing operation is convenient. After each finger sleeve component 100 is worn (put on) on the corresponding finger joints, the finger is then brought close to the electromagnetic component 200 of the hand rehabilitation robot, and the electromagnetic component 200 is energized or de-energized to generate magnetic force, so as to attract the finger sleeve component 100. With the positioning of the positioning structure, the finger sleeve component 100 can be well connected to the hand rehabilitation robot through the electromagnetic component 200. The wearing operation is convenient. The user can directly put on the finger without using a bundling band or a magic sticker, avoiding loosening and being beneficial to ensuring the rehabilitation effect. When it is necessary to separate from the hand rehabilitation robot, only the electromagnetic component 200 needs to be de-energized or energized, and the magnetic force of the electromagnetic component 200 disappears. The user can directly separate from the hand rehabilitation robot. At this time, the user can freely remove each finger sleeve component 100, and it is convenient to disinfect the finger sleeve component 100, and the user experience is good.

[0028] As an alternative, the electromagnetic component 200 can also adopt a method of making the magnetic force disappear when powered on, that is, a magnetic core is preset, and the reverse magnetic field generated when the electromagnetic component 200 is powered on cancels out the fixed magnetic field of the magnetic core, so as to achieve the method of making the magnetic force disappear when powered on. In this way, when it is necessary to detach from the hand rehabilitation robot, the electromagnetic component 200 can be powered on.

[0029] Specifically, the alignment structure is a concave-convex plug-in and matching structure arranged between the electromagnetic component 200 and the finger sleeve component 100, and the structure is simple and reliable.

[0030] Specifically, the concave-convex plug-in and matching structure includes a plug hole 201 arranged on the electromagnetic component 200 and a protrusion 101 arranged on the finger sleeve component 100 and capable of being inserted into the plug hole 201.

[0031] Alternatively, the concave-convex plug-in and matching structure includes a plug hole arranged on the finger sleeve component 100 and a protrusion arranged on the electromagnetic component 200 and capable of being inserted into the plug hole.

[0032] In specific applications, the plug hole 201 can be in the shape of a cylindrical hole, and its side wall can have a certain slope, and the protrusion 101 can be in the shape of a frustum of a cone with a smaller diameter at the front end. Of course, the protrusion 101 can also be in the shape of a cylinder, a polygon, etc.

[0033] Specifically, the electromagnetic component 200 has an effective magnetic attraction surface 210, the finger sleeve component 100 has an adsorption surface that can cooperate with the magnetic attraction surface, and the size (area) of the effective magnetic attraction surface 210 is not less than the size (area) of the adsorption surface, so the suction effect is better.

[0034] Specifically, the finger sleeve component 100 includes a connection seat 110 that can be magnetically connected to the electromagnetic component 200 and a finger ring 120 connected to the connection seat 110. The connection seat 110 can be or include a magnet adsorption sheet. In specific applications, the connection seat 110 can be made of a magnetic steel material or embedded with a magnetic steel material. Of course, the magnet adsorption sheet can also be made of other materials with good magnetic conductivity, such as ordinary carbon steel, etc., and can also be adsorbed and fixed by the magnetic field of the electromagnet. The finger ring 120 is a rigid ring or a flexible ring, that is, the finger ring 120 can be made of a rigid material, such as steel wire, steel ring, or can be made of a flexible material, such as steel wire rope, rubber or cloth, etc., which is convenient, fast and comfortable to wear, and has high wearing efficiency.

[0035] Specifically, the electromagnetic component 200 includes a housing and an electromagnetic core component disposed within the housing. The insertion hole 201 is provided on the front surface of the housing, and the electromagnetic core component is located at the bottom of the insertion hole 201. The back surface of the housing is connected to the hand rehabilitation robot through a locking member or a snap structure. The depth of the insertion hole 201 can be greater than 1 mm. In this embodiment, the outer housing of the electromagnetic component 200 can effectively attract and connect to the connecting seat 110. The insertion hole 201 wraps around the protrusion 101 of the connecting seat 110 and is slightly higher than the effective attraction surface by two to three millimeters to facilitate the positioning when the electromagnetic core component attracts the connecting seat 110.

[0036] Specifically, the connecting seat 110 includes a magnetic adsorption sheet 111, a seat body 112, and a locking member 113. The locking member 113 is connected to the magnetic adsorption sheet 111 and the seat body 112, and the finger ring 120 is clamped and connected between the magnetic adsorption sheet 111 and the seat body 112.

[0037] Specifically, the finger ring 120 includes replacement finger rings with at least two diameter specifications. In this embodiment, the finger ring 120 is available in three specifications: large, medium, and small, to suit different people. The connecting seat 110 and the finger ring 120 can be provided in different specifications in a set to facilitate user selection.

[0038] The present utility model also provides a hand rehabilitation robot, which includes a rehabilitation manipulator component and also includes the above-mentioned finger sleeve for a hand rehabilitation robot; the hand rehabilitation robot has multiple finger joints driven by power devices, and the electromagnetic component 200 of the finger sleeve is connected to the finger joint through a fastener 901 and is connected to a power supply module. An electromagnet core that generates magnetic force when energized or eliminates magnetic force when energized is arranged in the electromagnetic component 200. In this embodiment, when the electromagnet (electromagnetic core component) in the electromagnetic component 200 is not energized, it has a magnetic attraction force and can adsorb a ferromagnetic material (the connecting seat 110 of the finger sleeve component 100). After the electromagnet (electromagnetic core component) is energized, it demagnetizes and the adsorption force disappears; the housing of the electromagnetic component 200 wraps the effective adsorption component and is slightly higher than the effective adsorption surface by two to three millimeters to facilitate the positioning when the electromagnet is adsorbed to the connecting seat 110 (magnet adsorption sheet). The connecting seat 110 can select a material with good ferromagnetic properties, such as high-strength magnetic steel or ordinary carbon steel, etc. The diameter of the effective adsorption surface of the electromagnet needs to be greater than or equal to the diameter of the magnet adsorption sheet to facilitate full adsorption. The electromagnet can be fixed to the components of the hand rehabilitation robot for driving the movement of the proximal phalanx and middle finger through structures such as screws. At this time, the finger sleeve component 100 and the electromagnet are in a separated state; the proximal phalanx and middle finger parts of the four fingers and the proximal phalanx part of the thumb are respectively put into the finger rings 120 of the finger sleeve component 100 one by one. When each part of each finger is worn well with the finger sleeve component 100, slowly bring the finger close to the hand rehabilitation robot. At this time, the electromagnet on the hand rehabilitation robot is in a power-off state, and the electromagnet is adsorbed to the connecting seat 110 (magnet adsorption sheet) in the finger sleeve component 100. At this time, each part of the finger is firmly fixed to the components of the hand rehabilitation robot for driving the finger movement. When the hand rehabilitation robot works, it can drive the corresponding finger part to work. When the rehabilitation training ends, perform a power-on operation on the electromagnet. At this time, after the electromagnet is energized, it demagnetizes and the adsorption force disappears, and the finger sleeve component 100 is separated from the corresponding electromagnet, so that the finger is separated from the hand rehabilitation robot.

[0039] In this embodiment, the energization and power-off of the electromagnet are used to control the adsorption and separation of the finger sleeve component 100, so as to control the fixation and separation of each moving part of the finger and the hand rehabilitation robot. The electromagnet is not limited to demagnetizing when energized and having a magnetic attraction force when power-off; it can also have a magnetic attraction force when energized and demagnetize when power-off.

[0040] A finger sleeve for a hand rehabilitation robot and a hand rehabilitation robot provided by an embodiment of the present invention can first wear each finger sleeve component 100 on the corresponding finger joint separately. The degree of freedom of wearing is high, and there is no need to directly perform the wearing operation on the hand rehabilitation robot. The wearing operation is convenient. After wearing each finger sleeve component 100 on the corresponding finger joint, then bring the finger close to the electromagnetic component 200 of the hand rehabilitation robot, so that the electromagnetic component 200 is energized to generate a magnetic force, thereby adsorbing the finger sleeve component 100. With the positioning of the alignment structure, the finger sleeve component 100 can be well connected to the hand rehabilitation robot through the electromagnetic component 200. The wearing operation is convenient. The user can directly put on the finger sleeve without using a binding band or a magic tape, avoiding loosening and being beneficial to ensuring the rehabilitation effect. When it is necessary to separate from the hand rehabilitation robot, only need to cut off the power supply of the electromagnetic component 200, and the magnetic force of the electromagnetic component 200 disappears. The user can directly separate from the hand rehabilitation robot. At this time, the user can freely remove each finger sleeve component 100, and it is convenient to disinfect the finger sleeve component 100, with good user experience.

[0041] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, or improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A finger sleeve for a hand rehabilitation robot, characterized in that, It includes an electromagnetic component that can be connected to a hand rehabilitation robot and a finger sleeve component that can be controlled to be attracted or released by energizing or de-energizing the electromagnetic component. A positioning structure is provided between the electromagnetic component and the finger sleeve component; The finger sleeve component includes a connection seat that can be magnetically connected to the electromagnetic component and a finger ring connected to the connection seat; the finger ring is a rigid ring or a flexible ring; The connection seat includes a magnetic adsorption sheet, a seat body, and a locking member. The locking member is connected to the magnetic adsorption sheet and the seat body, and the finger ring is connected between the magnetic adsorption sheet and the seat body; The finger ring includes replacement finger rings with at least two diameter specifications.

2. The finger sleeve for a hand rehabilitation robot according to claim 1, characterized in that The positioning structure is a concave-convex plug-in matching structure provided between the electromagnetic component and the finger sleeve component.

3. The finger sleeve for a hand rehabilitation robot according to claim 2, wherein The concave-convex plug-in matching structure includes a plug-in hole provided in the electromagnetic component and a protrusion provided in the finger sleeve component and capable of being inserted into the plug-in hole; Alternatively, the concave-convex plug-in matching structure includes a plug-in hole provided in the finger sleeve component and a protrusion provided in the electromagnetic component and capable of being inserted into the plug-in hole.

4. The finger sleeve for a hand rehabilitation robot according to claim 3, wherein, The electromagnetic component has an effective magnetic attraction surface, and the finger sleeve component has an adsorption surface that can cooperate with the magnetic attraction surface. The size of the effective magnetic attraction surface is not less than the size of the adsorption surface.

5. The finger sleeve for a hand rehabilitation robot according to claim 3, wherein The electromagnetic component includes a housing and an electromagnetic core component provided in the housing. The plug-in hole is provided on the front surface of the housing, the electromagnetic core component is located at the bottom of the plug-in hole, and the back surface of the housing is connected to the hand rehabilitation robot through a locking member or a snap structure.

6. A hand rehabilitation robot, comprising a rehabilitation manipulator component, characterized in that, It also includes a finger sleeve for a hand rehabilitation robot according to any one of claims 1 to 5; the rehabilitation manipulator component has multiple finger joints driven by a power device, and the electromagnetic component of the finger sleeve is connected to the finger joint and connected to a power supply module.

7. The hand rehabilitation robot according to claim 6, wherein, An electromagnet core that generates magnetic force when energized or eliminates magnetic force when energized is provided in the electromagnetic component.

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