A multifunctional hand rehabilitation robot

Abstract

This invention belongs to the field of medical device technology, specifically relating to a multifunctional hand rehabilitation robot. The robot combines finger and wrist rehabilitation training functions. The four-finger rehabilitation device of this invention uses a single power source to simultaneously train all four fingers, saving costs. The power source is located on one side of the palm. During rehabilitation training, the finger mechanism applies force to the patient's hand from the palm side, changing the fixed mindset of existing hand rehabilitation devices that pull the patient's fingers from an extended position to a flexed position. For patients with difficulty in hand flexion, flexion training can also be achieved through strap restraint. The wrist rehabilitation training device of this invention also uses a single power source. Through the integrated grip and turntable design, it can achieve active and passive training modes for the wrist's three degrees of freedom. Furthermore, the robot's turntable and adjustment mechanism allow for interchangeable left-hand and right-hand rehabilitation for patients, reducing costs and broadening applicability.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of medical devices, and particularly relates to a multifunctional hand rehabilitation robot. BACKGROUND

[0002] The hand rehabilitation robot is a rehabilitation robot used by a patient with hand function damage in postoperative, community rehabilitation or home rehabilitation, and can be divided into a terminal traction type and an exoskeleton type according to a wearing form, and can be divided into a motor drive, a pneumatic drive and the like according to a driving form. The relatively mature products on the market are a pneumatic rehabilitation glove, a rigid hand rehabilitation exoskeleton robot, a hand joint continuous passive activity instrument and the like. The main purpose is to promote the hand function reconstruction of the patient, promote the cognitive function and the proprioceptive recovery of the patient, and reduce the burden of the physician.

[0003] However, the hand rehabilitation robots on the market have the following shortcomings:

[0004] 1. Each finger of the existing four-finger rehabilitation device needs a separate power source for driving, and each degree of freedom of the wrist rehabilitation device needs a power source for driving, so that the space is large, the cost is high, it is difficult to simultaneously realize the functions of the flexion and extension, the adduction and abduction, the internal rotation and external rotation of the wrist, and the bending of the fingers, and the comfort of the user is poor.

[0005] 2. The hand robot in the prior art is designed from the perspective of function, and the rehabilitation needs are neglected to some extent. For example, most patients with finger dysfunction have spasm, claw hand deformity and the like, that is, the initial state is mostly “flexion”. The existing device mostly emphasizes that the four fingers can be driven from the “natural position” to the “fully flexed” position, but actually the patient needs to open the joint range of motion and recover to the “natural position” state through exercise training. The rehabilitation mechanism in the prior art is worn on the fingers, and a power source for driving the fingers to spread and bend is arranged on the back of the hand, so that comfortable rehabilitation training cannot be realized according to the “bent” state of the claw hand deformity of the patient, and the real rehabilitation training required by the patient cannot be realized. SUMMARY

[0006] The present application aims at the deficiencies of the prior art, and provides a multifunctional hand rehabilitation robot based on the real rehabilitation required by the patient and capable of simultaneously realizing the multi-degree-of-freedom training of the four fingers and the wrist.

[0007] The technical scheme adopted by the present application to solve the technical problem is that a multifunctional hand rehabilitation robot comprises a turntable installed on a rehabilitation platform, a four-finger rehabilitation device for the patient to perform four-finger rehabilitation training, and a wrist rehabilitation device for the patient to perform wrist rehabilitation training.

[0008] The four-finger rehabilitation device comprises a four-finger driving motor mounted on the rotating disc, a cam coaxially arranged with the output shaft of the four-finger driving motor, and four sets of finger mechanisms mounted on the rehabilitation support and abutting against the cam; when the patient's finger sleeve is arranged on the four-finger rehabilitation device, the cam is located on one side of the patient's palm.

[0009] Further, the finger mechanism comprises a moving column slidingly mounted on the rehabilitation support through a linear bearing, a finger ball mounted at the bottom end of the moving column, a pulley rotationally mounted at the top end of the moving column, and a compression spring arranged outside the linear bearing and between the rehabilitation support and the bottom end of the moving column; the finger ball is in rolling connection with the cam.

[0010] Further, it further comprises a support shell arranged outside the rehabilitation support, the moving column passes through the upper end surface of the rehabilitation support and the support shell and is rotationally mounted with the linear bearing and the support shell.

[0011] Further, the top end of the moving column is provided with a bandage for sleeving the patient's finger.

[0012] Further, the upper end surface of the support shell is provided with a support seat for supporting the patient's wrist, and the support seat is provided with a fixing belt for stabilizing the patient's wrist.

[0013] Further, the wrist rehabilitation device comprises a wrist driving motor mounted on the rotating disc, a length adjusting mechanism fixedly arranged perpendicularly with the output shaft of the wrist driving motor, a first rotating shaft fixedly installed with the output end of the length adjusting mechanism, and a square frame fixedly connected perpendicularly with the vertical direction of the first rotating shaft; a first grip sleeve is sleeved on the first rotating shaft, a second grip sleeve is sleeved on the vertical rod away from the first rotating shaft connection of the square frame, and a third grip sleeve is sleeved on the middle vertical rod of the square frame; the axis of the length adjusting mechanism and the output shaft axis of the wrist driving motor are perpendicular to each other in the horizontal plane, and the axis of the first rotating shaft and the axis of the length adjusting mechanism are perpendicular to each other in the horizontal plane.

[0014] Further, the length adjusting mechanism comprises a connecting block fixedly arranged coaxially with the output shaft of the wrist driving motor and a sliding rod slidingly arranged on the connecting block; the sliding rod is fixedly connected with the first rotating shaft.

[0015] Further, the rotating disc comprises a lower chassis, a plurality of rolling balls mounted on the lower chassis, and an upper end cover sleeved on the lower chassis; the upper end cover is in rotational connection with the rolling balls.

[0016] The upper end cover is provided with a manual buckle, which comprises a buckle mounting frame arranged in the rotating disc, a knurled buckle movably mounted on the buckle mounting frame and extending out of the upper end cover of the rotating disc, an inclined slot arranged on the buckle mounting frame and matched with the other end of the knurled buckle, a buckle pin movably mounted on the buckle mounting frame corresponding to the inclined slot, and a buckle spring mounted on the buckle mounting frame corresponding to the buckle pin.

[0017] Further, a plurality of pin holes matched with the buckle pin are arranged on the vertical plate on the lower chassis corresponding to the buckle pin; when the knurled buckle of the manual buckle is pressed, the buckle pin is pulled out of the pin hole; when the knurled buckle is released, the buckle pin is popped into the corresponding pin hole.

[0018] Still further, the rehabilitation platform is provided with a position adjusting mechanism for adjusting the position of the rotating disc, which comprises an adjusting guide rail arranged along the X-axis direction and an adjusting sliding block slidably connected with the adjusting guide rail; the lower chassis of the rotating disc is fixedly connected with the adjusting sliding block.

[0019] The multifunctional hand rehabilitation robot has the following advantages:

[0020] 1. The four-finger rehabilitation device of the present application uses one power source to realize the simultaneous rehabilitation training of four fingers, saving cost, and the power source is arranged on one side of the palm, so that when the rehabilitation training is performed, the finger mechanism applies force to the patient's hand from the side of the palm, changing the single rehabilitation training mode of the existing hand rehabilitation device that pulls the patient's fingers from the straight state to the "fully flexed" position, opening the joint range of motion, and restoring to the "natural position" state through exercise training, realizing the training of the four fingers of the hand function disorder patient from "flexion" to "extension", and for patients who have difficulty in flexing the hand, the training of flexion movement is realized through the binding of the binding belt. The present application is suitable for the rehabilitation of fingers in the initial "flexion" state and the rehabilitation of fingers in the initial straight state.

[0021] 2. The present application combines finger rehabilitation and wrist rehabilitation training functions, and simultaneously provides a rotating disc and an adjusting mechanism to realize the exchange of left hand rehabilitation and right hand rehabilitation of the patient. The present application reduces cost and has wide applicability. The finger rehabilitation device of the present application is further provided with a length adjusting mechanism, which can be adjusted according to the actual use requirements of the patient, and is suitable for the rehabilitation training of patients with different hand sizes. The moving column of the finger mechanism of the present application is rotatably mounted with the rehabilitation support and the linear bearing, which can adapt to the change of the angle of retraction during the four-finger rehabilitation process, and ensure the comfort of the patient's hand during the rehabilitation training process.

[0022] 3. The wrist rehabilitation training device of the present invention also adopts a single power source. Through the combination design of integrated grip and turntable, it realizes active and passive training modes of three degrees of freedom of wrist flexion and extension, adduction and abduction, and internal and external rotation through three grip forms of the hand. At the same time, the structure is simple. The combination design of turntable, position adjustment mechanism and integrated grip allows patients to perform rehabilitation training of left hand, right hand, left wrist and right wrist without changing their own position. It has high functional integration, high cost performance and convenient training. Attached Figure Description

[0023] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0024] Figure 1 This is a perspective view of the multifunctional hand rehabilitation robot according to an embodiment of the present invention;

[0025] Figure 2 This is a top-view view of the multifunctional hand rehabilitation robot according to an embodiment of the present invention;

[0026] Figure 3 This is a partial structural schematic diagram of the multifunctional hand rehabilitation robot according to an embodiment of the present invention;

[0027] Figure 4 yes Figure 2 Another structural diagram from another perspective;

[0028] Figure 5 This is a schematic diagram of the finger mechanism according to an embodiment of the present invention;

[0029] Figure 6 This is a schematic diagram of the wrist rehabilitation device according to an embodiment of the present invention;

[0030] Figure 7 This is a partial structural diagram of the turntable according to an embodiment of the present invention;

[0031] Figure 8 This is a perspective view of the manual buckle according to an embodiment of the present invention;

[0032] Figure 9 This is a cross-sectional view of the manual latch according to an embodiment of the present invention;

[0033] Figure 10 This is a positional diagram of the right wrist during flexion / extension movements according to an embodiment of the present invention;

[0034] Figure 11 This is a positional diagram of the left wrist during flexion / extension movements according to an embodiment of the present invention;

[0035] Figure 12 This is a positional diagram of the right wrist during adduction / abduction movements according to an embodiment of the present invention;

[0036] Figure 13 This is a positional diagram of the left wrist during adduction / abduction movements according to an embodiment of the present invention;

[0037] Figure 14 This is a positional diagram of the right wrist during internal / external rotation movement according to an embodiment of the present invention;

[0038] Figure 15 This is a positional diagram of four-finger rehabilitation exercises according to an embodiment of the present invention.

[0039] In the diagram: 1. Rehabilitation platform; 2. Turntable; 21. Lower chassis; 22. Rolling ball bearing; 23. Upper cover; 24. Manual latch; 241. Snap-on mounting bracket; 242. Knurled snap-on; 243. Inclined groove; 244. Snap-on pin; 245. Snap-on spring; 246. Pin hole; 247. Bearing; 25. Vertical plate; 3. Four-finger rehabilitation device; 31. Four-finger drive motor; 32. Cam; 33. Rehabilitation support; 34. Finger mechanism; 341. Linear bearing; 342. Moving column. 343. Finger ball bearing; 344. Pulley; 345. Compression spring; 346. Strap; 4. Wrist rehabilitation device; 41. Wrist drive motor; 42. Length adjustment mechanism; 421. Connecting block; 422. Sliding rod; 423. Adjusting bolt; 43. Square frame; 44. First grip sleeve; 45. Second grip sleeve; 46. Third grip sleeve; 5. Position adjustment mechanism; 51. Adjusting guide rail; 52. Adjusting slider; 6. Support shell; 7. Support base; 8. Fixing strap; 9. Model hand. Detailed Implementation

[0040] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0041] like Figures 1-15 The embodiment of the multifunctional hand rehabilitation robot of the present invention shown includes a turntable 2 mounted on a rehabilitation platform 1, a four-finger rehabilitation device 3 mounted on the turntable 2 for patients to perform four-finger rehabilitation training, and a wrist rehabilitation device 4 for patients to perform wrist rehabilitation training. In this embodiment, the four-finger rehabilitation device 3 includes a four-finger drive motor 31 mounted on the turntable 2, a cam 32 coaxially arranged with the output shaft of the four-finger drive motor 31, and four sets of finger mechanisms 34 mounted on a rehabilitation bracket 33 on the turntable 2 and abutting against the cam 32; when the patient's fingers are fitted on the four-finger rehabilitation device 3, the cam 32 is located on one side of the patient's palm. The four-finger drive motor 31 drives the cam 32 to rotate, thereby driving the four sets of finger components to perform up-and-down linear movements.

[0042] The four-finger rehabilitation device 3 of the present invention cleverly uses a four-finger drive motor 31 to drive the cam 32 to rotate. During rehabilitation training, all four sets of finger mechanisms 34 are connected to the cam 32. The rotation of the cam 32 drives the finger mechanism 34 to move up and down, thereby realizing the movement of the patient's fingers from "claw hand deformity" to extension or from unfolded state to flexion.

[0043] like Figures 3-5 As shown, the finger mechanism 34 includes a movable column 342 slidably mounted on a rehabilitation support 33 via a linear bearing 341, a finger ball 343 mounted at the bottom of the movable column 342, a pulley 344 rotatably mounted at the top of the movable column 342, and a compression spring 345 sleeved on the outside of the linear bearing 341 and positioned between the rehabilitation support 33 and the bottom of the movable column 342. The finger ball 343 is rotatably connected to a cam 32. The finger ball 343 is supported and driven by the cam 32, moving linearly up and down along the linear bearing 341. The movable column 342 can passively rotate around its own axis to adapt to different finger sizes and finger abduction states at different movement angles. During rehabilitation training, the patient's fingers are placed on the pulley 344 and can move actively or passively on the pulley 344.

[0044] The finger ball 343 is connected to the cam 32 in a rolling manner, which reduces the friction between the two while realizing power transmission, thus ensuring the service life of the finger mechanism 34 and the cam 32.

[0045] It should be noted that a support shell 6 is also included, located on the outside of the rehabilitation frame 33. The movable column 342 extends through the upper surface of the rehabilitation frame 33 and the support shell 6, and is rotatably mounted with the linear bearing 341 and the support shell 6. This design adapts to changes in the extension and retraction angles of the fingers during rehabilitation, ensuring patient hand comfort during rehabilitation training. (Refer to...) Figure 6 As shown, the upper end face of the support housing 6 is provided with a support seat 7 for supporting the patient's wrist, and a fixing strap 8 is provided on the support seat 7 for stabilizing the patient's wrist. This is to ensure the stability of the patient's hand when performing four-finger rehabilitation training.

[0046] The top of the movable column 342 is provided with a strap 346 for attaching to the patient's finger, see reference. Figure 5When a patient's hand is unable to bend, the fingers are pulled towards the palm to bend. This invention uses a single power source to simultaneously rehabilitate four fingers, saving costs. The power source is located on one side of the palm. During rehabilitation training, the finger mechanism 34 applies force to the patient's hand from the palm side, changing the existing single-rehabilitation training model of pulling the patient's fingers from an extended position to a "fully flexed" position. This opens up joint range of motion and restores the hand to a "natural" position through exercise training, enabling patients with hand dysfunction to train their four fingers from "flexion" to "extension." For patients with difficulty in flexion, the flexion movement is trained by using a strap 346. This invention is applicable to both fingers initially in a "flexed" state and fingers initially in an extended state.

[0047] like Figures 6-7 As shown, the wrist rehabilitation device 4 in this embodiment includes a wrist drive motor 41 mounted on a turntable 2, a length adjustment mechanism 42 fixedly and perpendicularly to the output shaft of the wrist drive motor 41, a first rotating shaft fixedly and perpendicularly to the output end of the length adjustment mechanism 42, and a square frame 43 fixedly and perpendicularly to the first rotating shaft. A first grip sleeve 44 is fitted on the first rotating shaft, a second grip sleeve 45 is fitted on the vertical rod of the square frame 43 away from the connection point of the first rotating shaft, and a third grip sleeve is fitted on the middle vertical rod of the square frame 43. The axis of the length adjustment mechanism 42 is perpendicular to the axis of the output shaft of the wrist drive motor 41 in the horizontal plane, and the axis of the first rotating shaft is perpendicular to the axis of the length adjustment mechanism 42 in the horizontal plane.

[0048] The length adjustment mechanism 42 includes a connecting block 421 fixedly coaxially with the output shaft of the wrist drive motor 41 and a sliding rod 422 slidably disposed on the connecting block 421; the sliding rod 422 is fixedly connected to the first rotating shaft. The adjustment axis of the length adjustment mechanism 42 is parallel to the extension direction of the patient's arm during rehabilitation training, and is used to adjust the length of the wrist rehabilitation device 4 according to the patient's arm length, thereby adapting to patients with different arm lengths.

[0049] A torque sensor is installed on the output shaft of the wrist drive motor 41 to detect torque in real time and realize active rehabilitation movements of the wrist. The wrist rehabilitation device 4 consists of a length adjustment mechanism 42, a first connecting shaft, a second connecting shaft, a square frame 43, a first grip sleeve 44 sleeved on the first connecting shaft, a second grip sleeve 45 sleeved on the vertical rod of the square frame 43 away from the connection of the first rotating shaft, and a third grip sleeve sleeved on the middle vertical rod of the square frame 43. The length adjustment mechanism 42 has a connecting block 421 and a sliding rod 422 with slide rails and a adjusting bolt 423 for fastening the sliding rod 422 on the connecting block 421. After adjusting the connecting block 421 and sliding rod 422 to the appropriate position according to the patient's arm length, tighten the adjusting bolt 423 to fix it. It can accommodate people with different hand lengths to carry out wrist rehabilitation training. When performing wrist flexion and extension training, hold the first grip sleeve 44; when performing wrist adduction and abduction training, hold the second grip sleeve 45; and when performing wrist internal and external rotation training, hold the third grip sleeve.

[0050] like Figure 7 As shown, the turntable 2 includes a lower base 21, multiple rolling balls 22 mounted on the lower base 21, and an upper cover 23 sleeved on the lower base 21; the upper cover 23 is rotatably connected to the rolling balls 22. In this embodiment, a manual latch 24 is installed on the upper cover 23. The manual latch 24 includes a snap-on mounting bracket 241 disposed inside the turntable 2, a knurled snap 242 movably mounted on the snap-on mounting bracket 241 and extending one end out of the upper cover 23 of the turntable 2, an inclined groove 243 formed on the snap-on mounting bracket 241 and cooperating with the other end of the knurled snap 242, a latching pin 244 movably mounted on the snap-on mounting bracket 241 corresponding to the inclined groove 243, and a latching spring 245 mounted on the snap-on mounting bracket 241 corresponding to the latching pin 244. See the specific reference. Figure 8 and Figure 9 .

[0051] It should be further explained that the vertical plate 25 on the lower chassis 21 corresponding to the snap-fit ​​pin 244 has several pin holes 246 that cooperate with the snap-fit ​​pin 244; when the knurled snap button 242 of the manual snap-fit ​​24 is pressed, the snap-fit ​​pin 244 disengages from the pin hole 246; when the knurled snap button 242 is released, the snap-fit ​​pin 244 pops out into the corresponding pin hole 246; when the knurled snap button 242 is pressed, the lower end of the knurled snap button 242 slides in the inclined groove 243 through the bearing 247.

[0052] In practical use, after pressing the knurled snap 242, the snap-fit ​​pin 244 retracts under the action of the inclined groove 243 and the knurled button, and disengages from the pin hole 246 on the vertical plate 25 on the lower chassis 21. The upper cover 23 can rotate freely relative to the lower chassis 21. When it rotates to the next pin hole 246 position, the snap-fit ​​pin 244 automatically pops out under the action of the snap-fit ​​spring 245, fixing the upper cover 23 to the lower chassis 21. In this embodiment, four pin holes 246 are provided on the vertical plate 25 of the lower chassis 21. The snap-fit ​​pin 244 is inserted into different pin holes 246 to correspond to different rehabilitation training positions. Two set screws are arranged on the side of the upper cover 23, which can be inserted into the circular groove of the lower chassis 21 to ensure that the upper cover 23 and the lower chassis 21 will not move axially relative to each other. The turntable 2 of the present invention uses a press-type buckle pin 244 and pin hole 246 to achieve free switching of multiple positions, thereby enabling patients to switch between left and right hand training and wrist three-degree-of-freedom training without changing their seat position. The structure is simple and highly reliable.

[0053] The rehabilitation platform 1 is equipped with a position adjustment mechanism 5 for adjusting the position of the turntable 2. The position adjustment mechanism 5 includes an adjustment guide rail 51 arranged along the X-axis and an adjustment slider 52 that is slidably connected to the adjustment guide rail 51. The lower base 21 of the turntable 2 is fixedly connected to the adjustment slider 52. In this embodiment, the X-axis, Y-axis, and Z-axis directions are... Figure 2 The coordinate system in the figure is used as a reference. The lower chassis 21 is fixed to the adjusting slider 52 on the position adjustment mechanism 5, so that the turntable 2 can move left and right to realize the switching of left-hand and right-hand rehabilitation training. In this embodiment, the position adjustment mechanism 5 uses the method of motor rotation to drive gear and rack rotation to realize the movement of the adjusting slider 52 on the adjusting guide rail 51. It should be noted that this application is not limited to this transmission adjustment method. Any transmission method that can be thought of by those skilled in the art can realize the movement of the turntable 2.

[0054] This wrist rehabilitation device 4 adopts a novel approach combining a single drive with an integrated grip design, enabling three gripping forms for the hand. This allows for low-cost rehabilitation training of the wrist's three degrees of freedom: flexion and extension, adduction and abduction, and internal and external rotation. The device also features a simple structure; the combination of the turntable 2, position adjustment mechanism 5, and integrated grip allows patients to perform rehabilitation training for their left hand, right hand, left wrist, and right wrist without changing their seating position. It boasts high functional integration, high cost-effectiveness, and convenient training.

[0055] The rehabilitation process for four fingers using the hand rehabilitation robot in this embodiment is as follows:

[0056] Press the knurled buckle 241, adjust the position between the lower base 21 and the upper cover 23 of the turntable 2, and insert the buckle pins 244 on the manual buckle 24 into the four pin holes 246 to reach four different positions. When rotated to such a position... Figure 10 When the position is shown, perform four-finger rehabilitation exercises.

[0057] Specifically, the four-finger drive motor 31 drives the four-finger rehabilitation device 3 to perform linear motion in the Z-axis direction via the cam 32. Force is applied from one side of the patient's palm to train the four fingers. Most patients with hand dysfunction have joints that are not fully open, exhibiting a "flexed" or "claw hand deformity" state. In this case, the primary movement is "from bottom to top," and the four-finger straps 346 are ineffective. If a patient's hand cannot flex, the primary movement is "from top to bottom," in which case the straps 346 are needed to fix the fingers. The four sets of finger mechanisms 34 in the four-finger rehabilitation device 3 can all passively rotate around their own axes, adapting to changes in hand size among different patients, as well as changes in the adduction / abduction angles of the four fingers during training for the same patient.

[0058] The wrist rehabilitation process using the hand rehabilitation robot in this embodiment is as follows:

[0059] When the adjustment dial 2 is rotated to the position shown... Figure 11 When the position is shown, the integrated grip is on the right side of the body. The patient's right hand holds the first grip sleeve 44, corresponding to the rehabilitation training of the flexion, extension, and adduction movements of the right wrist. If the patient's right hand holds the third grip sleeve 46, such as... Figure 13 As shown, this is a rehabilitation training exercise to achieve adduction / abduction movements of the right wrist; when the adjustment dial 2 is rotated to the position shown... Figure 12 When the position is shown, the integrated grip is on the left side of the body. The patient holds the first grip sleeve 11 with their left hand and performs rehabilitation training for left-hand flexion / extension movements. If the patient holds the third grip sleeve 46 with their left hand, as shown... Figure 14 As shown, this is a rehabilitation training exercise to achieve adduction / abduction movements of the left wrist; when the adjustment dial 2 is rotated to the desired position... Figure 15 In the position shown, the integrated grip is in the middle of the body, and the patient holds the second grip sleeve 45 degrees, corresponding to the rehabilitation training of internal / external rotation movements of the left or right wrist. In this embodiment... Figures 10-15 The model hand 9 was used to replace the patient's hand.

[0060] The combination of the turntable 2 and the integrated grip of the present invention, coupled with the left and right movement of the position adjustment mechanism 5, allows patients to achieve rehabilitation of both their left and right hands without changing their position. It is multifunctional, easy to operate, and has low manufacturing costs.

[0061] It should be understood that the specific embodiments described above are for illustrative purposes only and are not intended to limit the scope of the invention. Obvious variations or modifications derived from the spirit of the invention are still within the protection scope of the invention.

Claims

1. A multifunctional hand rehabilitation robot, characterized by: The device comprises a rotating disc (2) installed on a rehabilitation platform (1), a four-finger rehabilitation device (3) for four-finger rehabilitation training of a patient installed on the rotating disc (2), and a wrist rehabilitation device (4) for wrist rehabilitation training of the patient. The four-finger rehabilitation device (3) comprises a four-finger driving motor (31) installed on the rotating disc (2), a cam (32) coaxially arranged with an output shaft of the four-finger driving motor (31), four sets of finger mechanisms (34) installed on a rehabilitation support (33) of the rotating disc (2) and abutting against the cam (32); when a patient's finger sleeve is set on the four-finger rehabilitation device (3), the cam (32) is located on one side of the patient's palm. The finger mechanism (34) comprises a moving column (342) slidably installed on the rehabilitation support (33) through a linear bearing (341), a finger ball (343) installed at a bottom end of the moving column (342), a pulley (344) rotatably installed at a top end of the moving column (342), and a compression spring (345) set outside the linear bearing (341) and arranged between the rehabilitation support (33) and the bottom end of the moving column (342); the finger ball (343) is in rolling connection with the cam (32).

2. The multifunctional hand rehabilitation robot according to claim 1, characterized in that: A support shell (6) is further arranged outside the rehabilitation support (33), the moving column (342) penetrates through the upper end surface of the rehabilitation support (33) and the support shell (6) and is rotatably installed with the linear bearing (341) and the support shell (6).

3. The multifunctional hand rehabilitation robot according to claim 1, characterized in that: A bandage (346) for sleeving the patient's finger is arranged at the top end of the moving column (342).

4. The multi-functional hand rehabilitation robot according to claim 2, characterized in that: An upper end surface of the support shell (6) is provided with a support seat (7) for supporting the patient's wrist, and a fixing belt (8) for stabilizing the patient's wrist is arranged on the support seat (7).

5. The multi-functional hand rehabilitation robot according to claim 1, wherein The wrist rehabilitation device (4) comprises a wrist driving motor (41) installed on the rotating disc (2), a length adjusting mechanism (42) fixedly arranged perpendicularly with an output shaft of the wrist driving motor (41), a first rotating shaft fixedly installed perpendicularly with an output end of the length adjusting mechanism (42), and a square frame (43) fixedly connected perpendicularly with the first rotating shaft in the vertical direction; a first grip sleeve (44) is sleeved on the first rotating shaft, a second grip sleeve (45) is sleeved on a vertical rod away from the first rotating shaft connection of the square frame (43), and a third grip sleeve is sleeved on a middle vertical rod of the square frame (43); the axis of the length adjusting mechanism (42) and the axis of the output shaft of the wrist driving motor (41) are perpendicular to each other in the horizontal plane, and the axis of the first rotating shaft and the axis of the length adjusting mechanism (42) are perpendicular to each other in the horizontal plane.

6. The multi-functional hand rehabilitation robot according to claim 5, characterized in that: The length adjusting mechanism (42) comprises a connecting block (421) fixedly arranged coaxially with the output shaft of the wrist driving motor (41) and a sliding rod (422) slidably arranged on the connecting block (421); the sliding rod (422) is fixedly connected with the first rotating shaft.

7. The multi-functional hand rehabilitation robot according to claim 1, characterized in that: The rotating disc (2) comprises a lower chassis (21), a plurality of rolling balls (22) mounted on the lower chassis (21), and an upper end cover (23) sleeved on the lower chassis (21); the upper end cover (23) is rotationally connected with the rolling balls (22); A manual buckle (24) is mounted on the upper end cover (23), the manual buckle (24) comprises a snap buckle mounting frame (241) arranged inside the rotating disc (2), a knurled snap buckle (242) movably mounted on the snap buckle mounting frame (241) and extending out of the upper end cover (23) of the rotating disc (2), an inclined slot (243) opened on the snap buckle mounting frame (241) and matched with the other end of the knurled snap buckle (242), a buckle latch (244) movably mounted on the corresponding snap buckle mounting frame (241) of the inclined slot (243), and a buckle spring (245) mounted on the snap buckle mounting frame (241) corresponding to the buckle latch (244).

8. The multi-functional hand rehabilitation robot according to claim 7, characterized in that: A plurality of latch holes (246) matched with the buckle latch (244) are opened on the vertical plate (25) on the lower chassis (21) corresponding to the buckle latch (244); when the knurled snap buckle (242) of the manual buckle (24) is pressed, the buckle latch (244) is detached from the latch hole (246); when the knurled snap buckle (242) is released, the buckle latch (244) is popped into the corresponding latch hole (246).

9. The multi-functional hand rehabilitation robot according to claim 1, characterized in that: The rehabilitation platform (1) is provided with a position adjusting mechanism (5) for adjusting the position of the rotating disc (2), the position adjusting mechanism (5) comprises an adjusting guide rail (51) arranged along the X-axis direction and an adjusting sliding block (52) slidably connected with the adjusting guide rail (51); the lower chassis (21) of the rotating disc (2) is fixedly connected with the adjusting sliding block (52).

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