A modular wrist joint rehabilitation training device

Abstract

The present invention relates to a modular wrist joint rehabilitation training device, comprising a support base, a disc servo platform with an axis extending in an up-down direction provided on the support base, a fixed base provided on the disc servo platform, an arc-shaped bracket rotatably mounted on the fixed base, the arc-shaped bracket having a horizontally arranged axis of rotation, a wrist support base provided on the arc-shaped bracket, the wrist support base having an upwardly recessed wrist support, a hand function unit provided on the arc-shaped bracket in front of the wrist support base, the hand function unit including a hand unit support, and a palm clamping body provided on the hand unit support for clamping on both sides of the palm. The present invention provides a modular wrist joint rehabilitation training device capable of performing dorsiflexion and palmar flexion and pronation and supination rehabilitation training.

Description

Technical Field

[0001] The present invention relates to rehabilitation medical equipment, and in particular to a modular wrist joint rehabilitation training device. Background Art

[0002] Stroke, also known as cerebral infarction or cerebrovascular accident, is a disease with high morbidity, high disability rate, high mortality rate and high recurrence rate.

[0003] Thanks to advances in medical technology, the mortality rate from stroke has gradually decreased. Studies have shown that 85% of stroke patients experience upper limb dysfunction at the onset of their condition, and approximately 30%-36% still experience upper limb dysfunction six months after onset, with a severe disability rate as high as 10%. The wrist is a vital working organ and sensory organ in our bodies, possessing exquisite sensitivity. Under the brain's command, the wrist is capable of performing numerous delicate tasks. However, wrist dysfunction significantly reduces patients' quality of life and impacts their sense of well-being, placing a heavy burden on both patients and their families.

[0004] Restoring the patient's wrist mobility through appropriate rehabilitation training devices is particularly important for wrist joint treatment. Conventional wrist movements include dorsiflexion and dorsiflexion, pronation and supination (also known as pronation and supination), and other physiological wrist movements. Currently, most devices on the market can only achieve single-degree-of-freedom hand movements and cannot achieve full-scale multi-degree-of-freedom hand movement training. Although many products can replace multiple adapters to complete these wrist physiological rehabilitation movements, the placement of adapters and the replacement of adapters during training still need to be considered during use. This brings great inconvenience to the use of the equipment, which has great limitations and cannot meet the patient's complete wrist rehabilitation training needs, resulting in unsatisfactory rehabilitation results and affecting the patient's confidence in rehabilitation. Summary of the Invention

[0005] The object of the present invention is to provide a modular wrist joint rehabilitation training device capable of performing dorsiflexion, palmar flexion, pronation and supination rehabilitation training.

[0006] To solve the above technical problems, the technical solution of a modular wrist joint rehabilitation training device in the present invention is as follows:

[0007] A modular wrist joint rehabilitation training device includes a support base, a disc servo gimbal with an axis extending in an up-down direction is provided on the support base, a fixed seat is provided on the disc servo gimbal, an arc-shaped bracket is rotatably mounted on the fixed seat, the rotation axis of the arc-shaped bracket is horizontally arranged, a wrist guard support seat is provided on the arc-shaped bracket, the wrist guard support seat has a wrist guard support with a notch facing upward, a hand function unit is provided on the arc-shaped bracket on the front side of the wrist guard support seat, the hand function unit includes a hand unit support, and the hand unit support is provided with a palm clamping body for clamping on both sides of the palm.

[0008] The beneficial effects of the present invention are as follows: when the present invention is in use, the patient's wrist can be supported on the wrist support, the patient's palm (including fingers) is clamped and limited to the palm clamping body, and the patient can perform dorsiflexion and palmar flexion movements of the wrist joint through the horizontal rotation of the disc servo gimbal; the pronation and supination (i.e. left rotation and right rotation) movements of the wrist joint can be achieved through the left and right swinging of the arc-shaped bracket. The modular wrist joint rehabilitation training device in the present invention has a high degree of integration and can achieve dorsiflexion and palmar flexion and pronation and supination rehabilitation training for patients.

[0009] Furthermore, the hand unit support includes a hand unit guide rail fixed to the front side of the wrist support seat and extending in the left and right directions. The hand unit support also includes a hand unit moving seat guided and moved along the left and right directions and assembled on the hand unit guide rail. The hand unit moving seat is rotatably assembled with a hand unit rotating seat having a rotating axis extending in the front and rear directions. The palm clamping body is arranged on the hand unit rotating seat.

[0010] Furthermore, the hand unit guide rail includes an upper guide rail and a lower guide rail arranged at intervals in the upper and lower directions. The upper guide rail is composed of a guide sleeve, and the lower guide rail includes a guide rail block. The guide rail block is provided with a guide rail groove with a notch facing backward, and the two groove walls of the guide rail groove are provided with rail grooves with notches facing each other. The hand unit moving seat includes a sliding optical axis adapted to the guide sleeve and a linear slide rail adapted to the guide rail groove.

[0011] Furthermore, the hand unit rotating seat includes a rotating seat base plate and a rotating seat pressure plate whose front end is hingedly connected to the rotating seat base plate. The palm clamping body includes a finger splint arranged on the rotating seat base plate and a finger massage tape rotatably assembled on the rotating seat pressure plate. A pressure plate angle adjustment mechanism for adjusting the angle of the rotating seat pressure plate is provided between the rotating seat base plate and the rotating seat pressure plate.

[0012] Furthermore, the finger massage tape is guided and moved along the front-back direction and assembled on the rotating seat pressure plate, and a front-back movement adjustment mechanism is provided between the rotating seat pressure plate and the finger massage tape.

[0013] Furthermore, a support arm support and an arm support support rod are provided on the support base at the rear side of the wrist guard support. The height of the arm support support rod is adjustable. The upper end of the arm support support rod is rotatably equipped with an arm support movable joint whose rotation axis extends along the up and down directions. The support arm support is hingedly connected to the arm support movable joint, and the hinge axis of the support arm support extends along the left and right directions.

[0014] Furthermore, the disc servo platform is provided with an arc-shaped limiting hole which passes through the disc servo platform in the up-down direction, and the support base is provided with a vertically arranged dorsiflexion and palmar flexion limiting pin which is located in the arc-shaped limiting hole.

[0015] Furthermore, the fixed seat includes a fixed seat base plate connected to the disc servo gimbal, and the fixed seat front side plate and the fixed seat rear side plate are fixed on the fixed seat base plate and are arranged in parallel with a front-to-back interval. The lower side guard bearings for rotating with the bottom of the arc bracket are rotatably assembled between the front side plate and the rear side plate of the fixed seat, and at least two pairs of upper side guard bearings for rotating with the upper end of the arc bracket are rotatably assembled on the front side plate and the rear side plate of the fixed seat, and the two upper side guard bearings in the same pair of upper side guard bearings are respectively arranged on the front side plate and the rear side plate of the fixed seat, and the wrist guard support seat is connected to the arc bracket through a connecting block located between a pair of upper side guard bearings.

[0016] Furthermore, the arc-shaped bracket includes a rear rotating ring, an intermediate rotating ring and a front rotating ring which are sequentially connected from back to front by bolts. The rear rotating ring and the front rotating ring are used to contact and cooperate with the upper side guard bearing and the lower side guard bearing. The outer periphery of the intermediate rotating ring is provided with an external gear, and a reduction motor is fixed to the rear side of the rear plate of the fixed seat. The lower side of the intermediate rotating ring is provided with a power source gear which engages with the external gear for transmission, and the reduction motor is connected to the power source gear for transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present disclosure are shown in an illustrative and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0018] Figure 1 It is a structural schematic diagram of an embodiment of a modular wrist joint rehabilitation training device of the present invention;

[0019] Figure 2 yes Figure 1 Stereoscopic image of

[0020] Figure 3 yes Figure 1 Schematic diagram of the structure after removing the shell unit;

[0021] Figure 4 yes Figure 3 Stereoscopic image of

[0022] Figure 5 yes Figure 3 Exploded view of the center mount, arc bracket, and wrist support;

[0023] Figure 6 yes Figure 1 Schematic diagram of the coordination between the middle support arm and the arm support rod;

[0024] Figure 7 yes Figure 1 Exploded view of the middle hand functional unit;

[0025] Figure 8 Schematic diagram of the training of dorsiflexion and palmar flexion of the wrist joint in the present invention;

[0026] Figure 9 2. It is a schematic diagram of the training of pronation and supination of the wrist joint in the present invention;

[0027] Figure 10 yes Figure 7 Schematic diagram of the cooperation between the middle hand unit rotating seat and the rotating seat pressure plate;

[0028] Figure 11 yes Figure 7 Schematic diagram of the coordination between the middle hand unit guide rail and the hand unit moving seat;

[0029] Explanation of reference numerals: 1. arm support unit; 2. pronation and supination unit; 3. hand function unit; 4. housing unit; 5. dorsiflexion and palmar flexion unit; 6. support arm support; 7. arc-shaped bracket; 8. support base; 9. disc servo gimbal; 10. wrist support; 11. dorsiflexion and palmar flexion limit pin; 12. arc-shaped limit hole; 13. fixing seat; 14. reduction motor; 15. fixing seat rear side plate; 16. fixing seat bottom plate; 17. power source gear; 18. lower side guard bearing; 19. lower side guard bearing mounting shaft; 20. fixing seat front side plate; 21. upper side guard bearing; 22. connecting block; 23. rear rotating ring; 24. Front rotating ring; 25. Middle rotating ring; 26. Bolt; 27. Arm support rod; 28. Arm support movable joint; 29. Telescopic rod; 30. Fixed sleeve; 31. Height adjustment pin; 32. Wrist guard support seat; 33. Upper guide rail; 34. Lower guide rail; 35. Guide rail block; 36. Guide sleeve; 37. Vertical connecting plate; 38. Rotating shaft; 39. Hand back plate protective cover; 40. Finger splint; 42. Cam locking push plate; 43. Cam gear plate; 44. Rotating seat bottom plate; 45. Rotating seat pressure plate; 46. Rack; 47. Adjusting gear; 48. Hand unit moving seat; 49. Hand unit rotating seat. DETAILED DESCRIPTION

[0030] To facilitate understanding of the present invention, the present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments. Preferred embodiments of the present invention are shown in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present invention.

[0031] It should be noted that, unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0032] An embodiment of a modular wrist joint rehabilitation training device of the present invention is as follows: Figures 1 to 11 As shown: it includes a support base 8, on which an arm support unit 1 and a dorsiflexion and palmar flexion unit 5 are provided, on which a pronation and supination unit 2 is provided, on which a hand function unit 3 is provided, and on which a shell unit 4 is also provided.

[0033] The dorsiflexion and palmar flexion unit includes a disc servo platform 9 whose rotation axis extends in the up and down directions. The dorsiflexion and palmar flexion unit includes a fixing seat 13 fixed on the disc servo platform. An arc-shaped bracket 7 is rotatably mounted on the fixing seat 13. The rotation axis of the arc-shaped bracket 7 is horizontal and perpendicular to the rotation axis of the disc servo platform. A wrist guard support seat is provided on the arc-shaped bracket 7. The wrist guard support seat has a wrist guard support 10 with a notch facing upward. The hand function unit is located on the front side of the wrist guard support seat. The hand function unit includes a hand unit support. The hand unit support is provided with a palm clamping body for clamping on both sides of the palm.

[0034] The disc servo platform is equipped with an arc-shaped limit hole 12 that runs vertically through the platform. The support base is equipped with a vertically arranged dorsiflexion limit pin 11 that sits within the arc-shaped limit hole. As the disc servo platform rotates, the dorsiflexion limit pin 11 engages with the ends of the arc-shaped limit hole 12 to limit the rotation angle of the disc servo platform, providing mechanical protection for the patient.

[0035] The mounting base includes a mounting base base plate 16 fixedly connected to the disc servo gimbal. Affixed to the mounting base base plate 16 are a front mounting base plate 20 and a rear mounting base plate 15, arranged in parallel and spaced apart from each other. A lower side bearing 18 is rotatably mounted between the front and rear mounting base plates 20 and 15, configured to rotatably engage with the bottom of the arc-shaped bracket. The side bearing in this embodiment refers to a bearing with a side bearing. Specifically, the mounting base base has a "convex"-shaped cross-section, with the front and rear mounting base plates secured to the front and rear sides of the raised portion of the "convex"-shaped structure.

[0036] A lower side rib bearing mounting shaft 19 is provided between the front side plate of the fixing seat and the rear side plate of the fixing seat, and a corresponding pair of lower side rib bearings are mounted on the lower side rib bearing mounting shaft.

[0037] Two pairs of upper side guard bearings 21 for rotating with the upper end of the arc bracket are rotatably assembled on the front side plate and the rear side plate of the fixed seat. The two pairs of upper side guard bearings 21 are arranged at intervals on the left and right. The two upper side guard bearings in the same pair of upper side guard bearings are respectively arranged on the front side plate and the rear side plate of the fixed seat. The wrist guard support seat 32 is connected to the arc bracket 7 through a connecting block 22 located between a pair of upper side guard bearings.

[0038] The arc-shaped support 7 comprises a rear rotating ring 23, an intermediate rotating ring 25, and a front rotating ring 24, connected sequentially from back to front by bolts 26. The rear rotating ring 23 and the front rotating ring 24 are configured to engage with the upper and lower side bearings, thereby enabling the rotational assembly of the arc-shaped support. An external gear is provided on the outer periphery of the intermediate rotating ring 25. A reduction motor 14 is fixed to the rear side of the rear plate of the fixed base. A power source gear 17 is provided on the underside of the intermediate rotating ring, meshing with the external gear. The reduction motor 14 is in transmission connection with the power source gear 17. The reduction motor, via the power source gear, can drive the arc-shaped support 7 to swing left and right, thereby achieving pronation and supination (i.e., left-hand and right-hand rotation) of the patient's wrist.

[0039] The hand unit support includes a hand unit guide rail fixed to the front side of the wrist support base and extending in the left and right directions. The hand unit support also includes a hand unit moving base assembled on the hand unit guide rail for guiding movement along the left and right directions. The hand unit moving base is rotatably assembled with a hand unit rotating base with a rotating axis extending in the front and back directions. The palm clamping body is arranged on the hand unit rotating base.

[0040] The hand unit guide rail includes an upper guide rail 33 and a lower guide rail 34 arranged at intervals in the upper and lower directions. The upper guide rail 33 is composed of a guide sleeve 36, and the lower guide rail 34 includes a guide rail block 35. The guide rail block is provided with a guide rail groove with a notch facing backward, and the two groove walls of the guide rail groove are provided with track grooves with opposite notches. The hand unit moving seat includes a sliding optical axis adapted to the guide sleeve and a linear slide rail adapted to the guide rail groove.

[0041] In this embodiment, the hand unit rotating base is rotatably connected to the vertical connecting plate 37 via a rotating shaft 38, and the lower end of the vertical connecting plate 37 is fixed to the hand unit moving base 48. The hand unit rotating base 49 rotates 180 degrees to achieve left hand rehabilitation training and right hand rehabilitation training.

[0042] The hand unit's rotating base includes a rotating base plate 44 and a rotating base pressure plate 45 hingedly connected to the base plate at its front end. The palm gripper includes a finger splint 40 fixed to the rotating base plate and a finger massage tape 41 rotatably mounted on the rotating base pressure plate. During use, the patient's fingers are positioned between the finger splint and the finger massage tape. The finger splint is made of a sponge pad.

[0043] A pressure plate angle adjustment mechanism for adjusting the angle of the rotating seat pressure plate is provided between the rotating seat base plate and the rotating seat pressure plate. The pressure plate angle adjustment mechanism includes a cam tooth plate 43 integrally provided with the rotating seat pressure plate. The outer periphery of the cam tooth plate has teeth. The pressure plate angle adjustment mechanism also includes a cam locking push plate 42 for use with the cam tooth plate. When the cam locking push plate swings backward, the locking of the cam tooth plate can be released. At this time, the rotating seat pressure plate can be rotated around its own axis, thereby adjusting the distance between the finger massage tape and the finger splint to match patients with different palm thicknesses. When the angle of the rotating seat pressure plate is adjusted into place, the cam locking push plate is rotated forward to lock the cam tooth plate, thereby positioning the rotating seat pressure plate.

[0044] The finger massage tape comprises a tape shaft and an annular tape that rotates with the shaft. The tape shaft is mounted on a rotating base plate 45 for forward and backward movement. A forward and backward movement adjustment mechanism is provided between the rotating base plate 45 and the finger massage tape. The annular tape's forward and backward position is adjusted to accommodate the varying finger lengths of different patients. In this embodiment, the forward and backward movement adjustment mechanism comprises a rack 46 fixed to the rotating base plate. The annular tape is provided with an adjustment gear 47 that engages the rack. Rotating the adjustment gear adjusts the annular tape's forward and backward position. As the palm performs dorsiflexion and palmar flexion movements, the finger massage tape follows suit, massaging the fingers through the nipple points (or raised dots) on the tape.

[0045] A support arm 6 and an arm support rod 27 are provided on the support base, behind the wrist support. The arm support rod is height-adjustable. The upper end of the arm support rod is rotatably mounted with an arm support movable joint 28, whose rotation axis extends in the vertical direction. The support arm 6 is hingedly connected to the arm support movable joint 28, and the support arm support's hinge axis extends in the left-right direction, allowing the arm support to perform pitching movements. The arm support rod 27 includes a fixed sleeve 30 and a telescopic rod 29 that telescopes with the fixed sleeve. The fixed sleeve is provided with a height adjustment pin 31, and the telescopic rod is provided with multiple height adjustment holes. The height adjustment pin 31 cooperates with the height adjustment holes in different positions to adjust the height of the arm support rod.

[0046] When in use, the patient's forearm is placed on the support arm, the patient's wrist is placed on the wrist support, and the patient's fingers are clamped between the finger massage tape and the finger splint. The patient can perform active and passive dorsiflexion and palmar flexion and pronation and supination rehabilitation training. When the patient performs dorsiflexion and palmar flexion rehabilitation training, such as Figure 8 As shown, the palm of the patient's right hand is facing the finger splint. Figure 8 This is a training for the patient's right hand's dorsiflexion and palmar flexion. The reduction motor limits the arc bracket to prevent the arc bracket from rotating around its own axis. When the patient is passively rehabilitating, the disc servo gimbal moves actively. When the patient is actively rehabilitating, the disc servo gimbal moves with the patient. Figure 8 The left and right views in the figure respectively represent the physiological limits of wrist dorsiflexion and palmar flexion.

[0047] When the patient needs to do left-right rotation rehabilitation training of the wrist joint, the disc servo pan / tilt is locked to prevent the disc servo pan / tilt from rotating. Figure 9 As shown, when the patient is doing passive rehabilitation training, the reduction motor moves actively, and when the patient is doing active rehabilitation training, the reduction motor moves with the movement. Figure 9 The left and right views in the figure represent the physiological limits of wrist pronation and supination, respectively.

[0048] When rehabilitation training is needed for the patient's left hand, the hand unit rotating base rotates 180 degrees. At this time, the palm of the left hand faces the finger splint. After the hand unit rotating base rotates, the left and right positions of the hand unit rotating base can be adjusted to ensure that the extension direction of the patient's forearm, i.e., the extension direction of the axis of the wrist support, is always centered between the finger massage tape and the finger pressure plate. This prevents the left hand from being trapped (allowing the patient to perform rehabilitation training on both hands in a relatively comfortable posture). Similarly, when the hand unit rotating base rotates 180 degrees again to perform rehabilitation training on the patient's right hand, the left and right positions of the hand unit rotating base also need to be adjusted to ensure that the extension direction of the patient's forearm, i.e., the extension direction of the axis of the wrist support, is always centered between the finger massage tape and the finger pressure plate.

[0049] The present invention has the following characteristics:

[0050] 1. The mechanical structure design realizes the rehabilitation training of wrist dorsiflexion and palmar flexion, with active and passive movement modes;

[0051] 2. The mechanical structure design enables rehabilitation training of left and right rotation of the wrist joint, with active and passive movement modes;

[0052] 3. The hand function unit can adjust the hand length and palm thickness. The palm maintains a certain continuous constant pressure, so that the finger massage tape can better massage the fingers through the protruding nipple points. This hand function overcomes the industry difficulties and realizes the left and right hand interchange function, as well as the adjustable problem of wrist center after the left and right hands are interchanged.

[0053] 4. The arm support unit places the arm on the support arm, and when the wrist joint does rehabilitation training exercises,

[0054] 4.1 The armrest can rotate horizontally with the wrist.

[0055] 4.2 The vertical armrest can also be adjusted to a certain range of pitch angles.

[0056] 4.3 In addition, due to differences in people's height, the armrest can be adjusted in height within a certain range to adapt to rehabilitation training for different groups of people.

[0057] In the foregoing description of this specification, unless otherwise expressly specified or limited, terms such as "fixed," "mounted," "connected," or "connected" should be understood broadly. For example, the term "connected" can refer to a fixed connection, a removable connection, or an integral connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediary; or the internal connection between two components or the interaction between two components. Therefore, unless otherwise expressly defined in this specification, those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0058] According to the above description of this specification, those skilled in the art may also understand that the terms used below, such as "up", "down", "front", "back", "left", "right", "length", "width", "thickness", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential", "center", "longitudinal", "transverse", "clockwise" or "counterclockwise", etc., which indicate orientation or positional relationships, are based on the orientation or positional relationships shown in the drawings of this specification, and are only for the purpose of facilitating the explanation of the scheme of the present invention and simplifying the description, rather than explicitly or implicitly indicating that the device or element involved must have the specific orientation, be constructed and operate in a specific orientation. Therefore, the above-mentioned orientation or positional relationship terms cannot be understood or interpreted as limitations on the scheme of the present invention.

[0059] In addition, the terms "first" or "second" used in this specification to refer to numbers or ordinal numbers are used for descriptive purposes only and should not be understood as explicitly or implicitly indicating relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this specification, "plurality" means at least two, such as two, three or more, etc., unless otherwise clearly specified.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A modular wrist joint rehabilitation training device, comprising a support base, characterized in that: The support base is provided with a disc servo gimbal with a rotation axis extending in the up-down direction, the disc servo gimbal is provided with a fixed seat, the fixed seat is rotatably equipped with an arc bracket, the rotation axis of the arc bracket is arranged in the front-back direction, the arc bracket is provided with a wrist support seat, the wrist support seat has a wrist support with a notch facing upward, a hand function unit is provided on the arc bracket at the front side of the wrist support seat, the hand function unit includes a hand unit support, and the hand unit support is provided with a palm clamping body for clamping on both sides of the palm, the hand unit support includes a hand unit guide rail fixed to the front side of the wrist support seat and extending in the left-right direction in the guide direction, and the hand unit support also It includes a hand unit moving seat that is guided and moved along the left and right directions and assembled on the hand unit guide rail, a hand unit rotating seat with a rotating axis extending along the front and rear directions being rotatably assembled on the hand unit moving seat, and the hand unit rotating seat can rotate 180°. The palm clamping body is arranged on the hand unit rotating seat, and the hand unit rotating seat includes a rotating seat base plate and a rotating seat pressure plate whose front end is hingedly connected to the rotating seat base plate, the palm clamping body includes a finger splint fixedly arranged on the rotating seat base plate and a finger massage tape rotatably assembled on the rotating seat pressure plate, and a pressure plate angle adjustment mechanism for adjusting the angle of the rotating seat pressure plate is provided between the rotating seat base plate and the rotating seat pressure plate.

2. The modular wrist joint rehabilitation training device according to claim 1, characterized in that: The hand unit guide rail includes an upper guide rail and a lower guide rail arranged at intervals in the upper and lower directions. The upper guide rail is composed of a guide sleeve, and the lower guide rail includes a guide rail block. The guide rail block is provided with a guide rail groove with a notch facing backward, and the two groove walls of the guide rail groove are provided with track grooves with notches facing each other. The hand unit moving seat includes a sliding optical axis adapted to the guide sleeve and a linear slide rail adapted to the guide rail groove.

3. The modular wrist joint rehabilitation training device according to claim 1, characterized in that: The finger massage tape is guided and moved along the front-back direction and assembled on the rotating seat pressing plate. A front-back movement adjustment mechanism is provided between the rotating seat pressing plate and the finger massage tape.

4. The modular wrist joint rehabilitation training device according to claim 1, characterized in that: A support arm support and an arm support support rod are provided on the support base at the rear side of the wrist guard support. The height of the arm support support rod is adjustable. The upper end of the arm support support rod is rotatably equipped with an arm support movable joint whose rotation axis extends along the up and down directions. The support arm support is hingedly connected to the arm support movable joint, and the hinge axis of the support arm support extends along the left and right directions.

5. The modular wrist joint rehabilitation training device according to claim 1, characterized in that: The disc servo platform is provided with an arc-shaped limiting hole which passes through the disc servo platform in the up and down direction, and the support base is provided with a vertically arranged dorsiflexion and palmar flexion limiting pin which is located in the arc-shaped limiting hole.

6. The modular wrist joint rehabilitation training device according to any one of claims 1 to 5, characterized in that: The fixed seat includes a fixed seat base plate connected to the disc servo gimbal, and the fixed seat front side plate and the fixed seat rear side plate are fixed on the fixed seat base plate and are arranged in parallel with a front-to-back interval. The lower side guard bearing for rotating with the bottom of the arc bracket is rotatably assembled between the front side plate and the rear side plate of the fixed seat, and at least two pairs of upper side guard bearings for rotating with the upper end of the arc bracket are rotatably assembled on the front side plate and the rear side plate of the fixed seat, and the two upper side guard bearings in the same pair of upper side guard bearings are respectively arranged on the front side plate and the rear side plate of the fixed seat, and the wrist guard support seat is connected to the arc bracket through a connecting block located between a pair of upper side guard bearings.

7. The modular wrist joint rehabilitation training device according to claim 6, characterized in that: The arc-shaped bracket includes a rear rotating ring, an intermediate rotating ring and a front rotating ring which are connected in sequence from back to front by bolts. The rear rotating ring and the front rotating ring are used to contact and cooperate with the upper side guard bearing and the lower side guard bearing. The outer periphery of the intermediate rotating ring is provided with an external gear, and a reduction motor is fixed to the rear side of the rear plate of the fixed seat. The lower side of the intermediate rotating ring is provided with a power source gear which is engaged with the external gear for transmission, and the reduction motor is connected to the power source gear for transmission.

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