Hand structure and end rehabilitation robot

Abstract

The application provides a hand structure and an end rehabilitation robot, and relates to the technical field of rehabilitation apparatuses.The hand structure comprises a first extension arm, a second extension arm, a movement ring, an arm support and a handle; one end of the second extension arm is rotationally connected with the first extension arm with the X direction as the axis, and a first damper is arranged between the second extension arm and the first extension arm; the other end of the second extension arm is slidingly connected with the movement ring and has a rotation freedom degree with the Z direction as the axis, the sliding path of the movement ring extends around the Y direction, and a second damper is arranged between the movement ring and the second extension arm; the arm support and the handle are respectively detachably connected to the movement ring, the handle has a rotation freedom degree with the Z direction as the axis, and the rotation axis of the handle is arranged in a spaced mode with the hand contact part of the handle.The hand structure can realize rehabilitation training on the flexion and extension of the wrist joint and the pronation and supination of the forearm, can adjust the resistance of the hand movement in real time according to the rehabilitation stage of a patient, and is convenient for the separate replacement of the arm support and the handle.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation equipment technology, and in particular to a hand structure and an end-effector rehabilitation robot. Background Technology

[0002] Currently, most upper limb rehabilitation training devices on the market primarily focus on rehabilitation exercises for the shoulder, humerus, and elbow joints, rarely addressing wrist joint rehabilitation. They typically only provide a simple handle for the patient to grip. For example, invention application number 201711288893.4 discloses a gripping mechanism for an upper limb coordination rehabilitation training device, but the hand rest is only for the patient to grasp and does not provide wrist joint rehabilitation training. Furthermore, replacing the handle requires disassembling the forearm support as well, which is inconvenient for device installation. Additionally, existing upper limb rehabilitation training devices cannot provide targeted training with varying resistance levels for different stages of rehabilitation. Summary of the Invention

[0003] The purpose of this invention is to provide a hand structure and an end-effector rehabilitation robot that can perform rehabilitation training for wrist flexion and extension, forearm pronation and supination, and can adjust the resistance of hand movement in real time according to the patient's rehabilitation stage. It also facilitates the separate replacement of the arm support and handle.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] In a first aspect, the present invention provides a hand structure, comprising a first extension arm, a second extension arm, a motion ring, an armrest, and a handle, wherein:

[0006] One end of the second extension arm is rotatably engaged with the first extension arm about the X-axis, and a first damper is provided between the second extension arm and the first extension arm for adjusting the rotational resistance of the second extension arm.

[0007] The other end of the second extension arm is slidably engaged with the motion ring and has a rotational degree of freedom about the Z-axis. The sliding path of the motion ring extends around the Y-axis. The X-axis, the Y-axis and the Z-axis are perpendicular to each other. A second damper is provided between the motion ring and the second extension arm to adjust the rotational resistance of the motion ring.

[0008] The armrest and the handle are detachably connected to the motion ring. The handle has a rotational degree of freedom about the Z-axis, and the rotation axis of the handle is spaced apart from the hand contact part of the handle.

[0009] Furthermore, the first damper includes a first pressure sensor, which is used to detect the pressure exerted by the first damper on the end face of the second extension arm and send it to the processor;

[0010] And / or, the second damper includes a second pressure sensor for detecting the pressure exerted by the second damper on the side of the moving ring and sending it to the processor.

[0011] Furthermore, the first damper includes a first cover plate, a first push rod, a first elastic element, and a first top plate;

[0012] The first cover plate is connected to the first extension arm, the first push rod extends through the first cover plate into the first extension arm, and the first push rod is threadedly connected to the first cover plate.

[0013] The first top plate is located between the first push rod and the end face of the second extension arm that extends into the first extension arm;

[0014] The first elastic element is sleeved on the outside of the first push rod, one end of the first elastic element abuts against the shoulder of the first push rod, and the other end abuts against the first top plate;

[0015] The first pressure sensor is located between the end face of the second extension arm and the first top plate, or between the first elastic member and the first top plate.

[0016] Furthermore, the first extension arm includes a first connecting rod, a first locking member, and a rotating seat that rotates with the first connecting rod about the Z-axis. The first locking member is used to lock the rotational position of the rotating seat relative to the first connecting rod.

[0017] The beginning and end of the rotation path of the rotating seat correspond to the left limb rehabilitation training and the right limb rehabilitation training, respectively. One of the rotating seat and the first connecting rod is provided with a first proximity switch corresponding to the left limb rehabilitation training and a second proximity switch corresponding to the right limb rehabilitation training. The other is provided with a protrusion. The protrusion is used to trigger the first proximity switch and send out a left limb rehabilitation training identification signal or to trigger the second proximity switch and send out a right limb rehabilitation training identification signal.

[0018] Furthermore, the second extension arm includes a second link, a third damper, and a guide seat. One end of the second link is rotatably engaged with the first extension arm about the X-axis, and the other end is rotatably engaged with the guide seat about the Z-axis via the third damper. The guide seat is slidably engaged with the motion ring.

[0019] Furthermore, the end of the second link has a three-dimensional force sensor, which is connected to the third damper.

[0020] Furthermore, the third damper includes a fixed base and a first torsion spring. One end of the fixed base is connected to the second connecting rod, and the other end is rotatably engaged with the guide seat about the Z-axis.

[0021] The first torsion spring is sleeved and fixed to the outside of the fixed base. The two ends of the first torsion spring are used to abut against the two limiting posts at the bottom of the guide seat to provide resistance to the rotation of the guide seat.

[0022] Furthermore, the motion ring is provided with a sliding groove, and the handle includes the hand contact part, the handle seat, and the plug part that inserts into the sliding groove;

[0023] One end of the handle seat is connected to the hand contact part, and the other end is rotatably engaged with the plug part about the Z-axis. A fourth damper is provided between the handle seat and the plug part for adjusting the rotational resistance of the handle seat. The plug part is detachably connected to the motion ring through a second locking member.

[0024] Furthermore, an elastic component, a pivot, a second torsion spring, and a locking handle are provided between the arm support and the motion ring;

[0025] The rotating shaft is connected to the moving ring, the locking handle is rotatably engaged with the rotating shaft, the second torsion spring is sleeved on the outside of the rotating shaft, and the two ends of the second torsion spring are respectively connected to the moving ring and the locking handle;

[0026] The moving ring has a sliding through hole in a direction parallel to the rotation axis of the locking handle. The elastic component is installed in the sliding through hole and extends at least partially out of the sliding through hole to overcome the elastic force of the second torsion spring and limit the locking handle to the unlocking position.

[0027] The arm support has a pressure block for overcoming the elastic force of the elastic component and pressing the elastic component into the sliding through hole. The surface of the pressure block facing the locking handle is recessed with a locking groove. When the elastic component is pressed into the sliding through hole, the locking handle rotates relative to the rotating shaft under the elastic force of the second torsion spring to the locking position where it is engaged in the locking groove.

[0028] Secondly, the present invention also provides an end-effector rehabilitation robot, including the hand structure described above.

[0029] When using the above-described hand structure, the patient's forearm can be placed within the armrest, with the palm gripping the handle. The forearm can be raised and lowered by rotating one end of the second extension arm relative to the first extension arm along the X-axis; adduction and abduction of the forearm can be achieved by rotating the other end of the second extension arm along the Z-axis; adduction and abduction of the upper arm can be achieved by sliding the motion ring relative to the second extension arm; and wrist flexion and extension can be achieved through the rotational freedom of the handle itself. These movements can be performed individually or in combination to achieve rehabilitation training for wrist flexion and extension, and forearm pronation and supination.

[0030] During the above process, different handles can be replaced individually according to the patient's different stages of rehabilitation. When disassembling the handles, the arm support will not be disassembled together, which facilitates the installation of the hand structure. At the same time, the rehabilitation therapist can also adjust the rotational resistance of the second extension arm through the first damper and the rotational resistance of the motion ring through the second damper according to the patient's recovery level, so as to gradually increase the training difficulty as the patient's upper limb improves.

[0031] Compared with the prior art, the hand structure provided by the first aspect of the present invention has the following advantages:

[0032] 1. It enables wrist joint rehabilitation training, meets diverse training movements, and helps the patient's affected hand to recover;

[0033] 2. Adjustable dampers have been added to some of the patient's hand movements, which can be adjusted in real time according to the patient's rehabilitation stage, making the training more targeted;

[0034] 3. The armrest and handle are detachably connected to the motion ring, making it easy to replace the armrest and handle separately.

[0035] The end-effector rehabilitation robot provided in the second aspect of the present invention has the hand structure provided in the first aspect of the present invention, thereby having all the beneficial effects of the hand structure provided in the first aspect of the present invention. Attached Figure Description

[0036] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0037] Figure 1 A three-dimensional structural diagram of a hand structure from a first-view perspective is provided as an embodiment of the present invention.

[0038] Figure 2A three-dimensional structural diagram of a hand structure from a second perspective, provided as an embodiment of the present invention;

[0039] Figure 3 A partial cross-sectional structural diagram of the first damper, the first extension arm, and the second extension arm when they are engaged, as provided in an embodiment of the present invention.

[0040] Figure 4 This is a front view schematic diagram of the structure when the motion ring and the guide seat are engaged, according to an embodiment of the present invention.

[0041] Figure 5 for Figure 4 A-A cross-sectional view;

[0042] Figure 6 A three-dimensional structural diagram of the guide seat and the partial second extension arm when they are engaged, according to an embodiment of the present invention;

[0043] Figure 7 This is a top view of the structure when the handle and the motion ring are engaged, as provided in an embodiment of the present invention.

[0044] Figure 8 for Figure 7 B-B cross-sectional view;

[0045] Figure 9 An exploded structural diagram of the support base, arm support and connecting assembly provided in an embodiment of the present invention;

[0046] Figure 10 A three-dimensional structural schematic diagram of an armrest provided in an embodiment of the present invention;

[0047] Figure 11 This is a three-dimensional structural diagram of an end-effector rehabilitation robot provided in an embodiment of the present invention.

[0048] Icons: 1 - First extension arm; 11 - First link; 111 - First proximity switch; 112 - Second proximity switch; 113 - Lower end connecting seat; 12 - First locking element; 13 - Rotating seat; 2 - Second extension arm; 21 - Second link; 211 - Three-dimensional force sensor; 22 - Third damper; 221 - Fixed seat; 222 - First torsion spring; 2221 - First spring leg; 2222 - Second spring leg; 23 - Guide seat; 231 - First stop post; 232 - Second stop post; 233 - Cam bearing; 3 - Moving ring; 31 - Bearing seat; 311 - Slide groove; 312 - Sliding through hole; 313 - Placement groove; 32 - Guide groove; 4 - Arm support; 41 - Pressure block; 411 - Locking groove; 5 - Handle; 51 - Hand contact part; 52 - Handle seat; 5 3 – Insertion part; 531 – Pin hole; 54 – Second locking element; 6 – First damper; 61 – First pressure sensor; 62 – First cover plate; 63 – First push rod; 64 – First elastic element; 65 – First top plate; 66 – Pressure cover; 67 – Handle; 7 – Second damper; 71 – Second cover plate; 72 – Second push rod; 73 – Second handle; 74 – Second elastic element; 75 – Second top plate; 8 – Fourth damper; 81 – Third cover plate; 82 – Third push rod; 83 – Third handle; 84 – Third elastic element; 85 – Third top plate; 9 – Connecting assembly; 91 – Elastic assembly; 911 – Elastic seat; 9111 – Spring pressure cover; 9112 – Spring; 912 – Telescopic block; 92 – Rotating shaft; 93 – Second torsion spring; 94 – Locking handle. Detailed Implementation

[0049] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0051] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0052] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0053] A first aspect of the present invention provides a hand structure, such as Figure 1 and Figure 2 As shown, it includes a first extension arm 1, a second extension arm 2, a motion ring 3, an arm support 4, and a handle 5, wherein:

[0054] One end of the second extension arm 2 is rotatably engaged with the first extension arm 1 about the X-axis, and a first damper 6 is provided between the second extension arm 2 and the first extension arm 1 for adjusting the rotational resistance of the second extension arm 2.

[0055] The other end of the second extension arm 2 is slidably engaged with the motion ring 3 and has a rotational degree of freedom about the Z-axis. The sliding path of the motion ring 3 extends around the Y-axis, and the X-axis, Y-axis and Z-axis are perpendicular to each other. A second damper 7 is provided between the motion ring 3 and the second extension arm 2 to adjust the rotational resistance of the motion ring 3.

[0056] The arm support 4 and the handle 5 are detachably connected to the motion ring 3. The handle 5 has a rotational degree of freedom with the Z-axis as the axis. The rotation axis of the handle 5 is spaced apart from the hand contact part 51 of the handle 5.

[0057] In the hand structure provided in the above embodiment, firstly, a first damper 6 is provided between the second extension arm 2 and the first extension arm 1 for adjusting the rotational resistance of the second extension arm 2, and a second damper 7 is provided between the motion ring 3 and the second extension arm 2 for adjusting the rotational resistance of the motion ring 3. The above two dampers can adjust the rotational resistance of the second extension arm 2 and the motion ring 3. For patients in the early stage of rehabilitation, the therapist may not need to increase the rotational resistance of the second extension arm 2 and the motion ring 3. For patients in the middle and late stages of rehabilitation, the therapist can gradually increase the rotational resistance of the second extension arm 2 and the motion ring 3, helping patients accelerate their rehabilitation and making rehabilitation training more targeted.

[0058] Secondly, in the hand structure provided in the above embodiment, since the rotation axis of the handle is spaced apart from the hand contact part 51 of the handle, after the patient's palm contacts the hand contact part 51, the rotation axis of the handle can correspond to the patient's wrist joint. With the rotation in other directions, rehabilitation training for wrist flexion and extension, and forearm pronation and supination can be achieved.

[0059] Finally, in the above embodiment, the armrest 4 and the handle 5 are detachably connected to the motion ring 3, which allows the rehabilitation therapist to replace the armrest 4 or the handle 5 separately, facilitating the installation of both and the connection between the patient's hand and the two.

[0060] In some embodiments, such as Figure 3 As shown, the first damper 6 includes a first pressure sensor 61, which is used to detect the pressure applied by the first damper 6 to the end face of the second extension arm 2 and send it to the processor.

[0061] In the above embodiment, the first pressure sensor 61 can sense the magnitude of the pressure on the end face of the second extension arm 2 and send the detected pressure data to the processor. The processor can calculate the magnitude of the friction force generated by the first damper 6 on the end face of the second extension arm 2 according to the formula friction force = normal force × friction coefficient and send it to the display. The magnitude of the damping generated by the first damper 6 can be displayed in real time.

[0062] The structure of the first damper 6 is described in detail below:

[0063] In some embodiments, such as Figure 3 As shown, the first damper 6 includes a first cover plate 62, a first push rod 63, a first elastic element 64, and a first top plate 65, wherein:

[0064] The first cover plate 62 can be connected to the outer surface of the first extension arm 1 by screws or other connectors. The first push rod 63 extends through the first cover plate 62 into the first extension arm 1 and is threadedly connected to the first cover plate 62.

[0065] The first top plate 65 is located between the first push rod 63 and the end face of the second extension arm 2 that extends into the first extension arm 1.

[0066] The first elastic element 64 is sleeved on the outside of the first push rod 63. One end of the first elastic element 64 abuts against the shoulder of the first push rod 63, and the other end abuts against the first top plate 65.

[0067] When using, such as Figure 3As shown, when the first push rod 63 moves to the left, the first elastic element 64 is compressed, and the elastic element 64 increases the elastic force acting on the first top plate 65, increasing the pressure applied by the first top plate 65 to the end of the second extension arm 2; conversely, during the process of the first push rod 63 returning to the initial state, the first top plate 65 gradually reduces the pressure applied to the end of the second extension arm 2.

[0068] The first damper 6 has a simple structure. Compared with the first push rod 63 directly contacting the first top plate 65, it can gradually increase the rotational resistance of the second extension arm 2 through the first elastic element 64, thus avoiding a significant increase in the rotational resistance of the second extension arm 2 due to the small rotation distance of the first push rod 63.

[0069] The first elastic element 64 can be a helical spring.

[0070] To facilitate the rehabilitation therapist's rotation of the first push rod 63, a handle 67 is fixedly connected to the end of the first push rod 63 that is away from the first top plate 65.

[0071] When the first damper 6 includes a first pressure sensor 61, the first pressure sensor 61 can be as follows: Figure 3 As shown, it can be located between the end face of the second extension arm 2 and the first top plate 65, or it can be located between the first elastic member 64 and the first top plate 65.

[0072] Regardless of the method described above, the first pressure sensor 61 can detect the elastic force generated when the first elastic element 64 is compressed.

[0073] It should be noted that, in the initial state, the first top plate 65 does not apply pressure to the end of the second extension arm 2.

[0074] In some embodiments, such as Figure 3 As shown, the first damper 6 also includes a pressure cap 66 connected to the end face of the second extension arm 2 by screws. The first top plate 65 increases the rotational resistance of the second extension arm 2 by applying pressure to the pressure cap 66.

[0075] In some embodiments, the second damper 7 may also include a second pressure sensor, which is used to detect the pressure exerted by the second damper 7 on the side of the moving ring 3 and send it to the processor. The processor can calculate the magnitude of the frictional force generated by the second damper 7 on the side of the moving ring 3 and send it to the display, which can display the magnitude of the damping generated by the second damper 7 in real time.

[0076] The working principle of the second damper 7 is similar to that of the first damper 6, as described below. Figure 4 and Figure 5 A brief description of the structure of the second damper 7:

[0077] The second damper 7 includes a second cover plate 71, a second push rod 72, a second handle 73, a second elastic element 74, and a second top plate 75.

[0078] The second cover plate 71 is threaded, and the second push rod 72 is screwed into the thread on the second cover plate 71. The screwed-in end is fixedly connected to the second handle 73. The other end of the second push rod 72 passes through the second elastic element 74 and is in close contact with one end of the second elastic element 74. The other end of the second elastic element 74 is in close contact with the second pressure sensor (not shown in the figure). The second pressure sensor presses against the second top plate 75, and the second top plate 75 is in close contact with the moving ring 3. The specific operating principle of the second damper 7 is similar to that of the first damper 6, and will not be described in detail here.

[0079] The structure of the first extension arm 1 is described in detail below:

[0080] In some embodiments, such as Figure 1 As shown, the first extension arm 1 includes a first connecting rod 11, a first locking member 12, and a rotating seat 13 that is rotatably engaged with the first connecting rod 11 about the Z-axis. The first locking member 12 is used to lock the rotational position of the rotating seat 13 relative to the first connecting rod 11.

[0081] The first connecting rod 11 is curved in an arc. The beginning and end of the rotation path of the rotating seat 13 correspond to rehabilitation training for the left limb and the right limb, respectively. When the rotating seat 13 rotates to the first extreme position, rehabilitation training can be performed on the patient's left limb. When the rotating seat 13 rotates to the second extreme position, rehabilitation training can be performed on the patient's right limb. The first extreme position and the second extreme position differ by 180°. After adjustment, the rotational position of the rotating seat 13 relative to the first connecting rod 11 can be locked by the first locking member 12.

[0082] Specifically, the first link 11 is provided with a first proximity switch 111 corresponding to left limb rehabilitation training and a second proximity switch 112 corresponding to right limb rehabilitation training. The rotating seat 13 is provided with a protrusion that can move between the first proximity switch 111 and the second proximity switch 112.

[0083] When the rotating seat 13 rotates, when the rotating seat 13 rotates to the first limit position, the protrusion can trigger the first proximity switch 111, and the first proximity switch 111 sends out a left limb rehabilitation training identification signal; when the rotating seat 13 rotates to the second limit position, the protrusion can trigger the second proximity switch 112, and the second proximity switch 112 sends out a right limb rehabilitation training identification signal.

[0084] The first proximity switch 111 and the second proximity switch 112 can identify the left and right limb states of the hand structure, so as to prevent the robot from performing rehabilitation on the patient's right limb when it is in the left limb state, or performing rehabilitation on the patient's left limb when it is in the right limb state, thus ensuring that the hand structure can make the correct rehabilitation movements during use and ensuring the safety of rehabilitation training.

[0085] In addition, the first locking member 12 can be a threaded post with a handle. The rotating seat 13 is provided with a threaded hole. The threaded post is threadedly engaged with the threaded hole, and the end of the threaded post abuts against the outer wall of the first connecting rod 11 that extends into the rotating seat 13. The rotation of the rotating seat 13 is limited by the friction between the threaded post and the first connecting rod 11.

[0086] In some embodiments, both ends of the first connecting rod 11 have connecting seats. The upper connecting seat is used to connect the transmission mechanism, and the lower connecting seat 113 is used to hinge with the rotating seat 13. The first proximity switch 111 and the second proximity switch 112 can be installed on the surface of the lower connecting seat facing the rotating seat 13.

[0087] The structure of the second extension arm 2 is described in detail below:

[0088] In some embodiments, such as Figure 1 and Figure 3 As shown, the second extension arm 2 includes a second connecting rod 21, a third damper 22 and a guide seat 23. One end of the second connecting rod 21 is rotatably engaged with the rotating seat 13 in the first extension arm 1 about the X-axis, and the other end is rotatably engaged with the guide seat 23 about the Z-axis through the third damper 22. The guide seat 23 is slidably engaged with the motion ring 3.

[0089] The second extension arm 2 is provided with a third damper 22. The third damper 22 can increase the motion resistance of the guide seat 23 during use, thereby avoiding excessive rotation speed of the guide seat 23 and causing secondary injury to the patient.

[0090] Based on the above embodiments, such as Figure 6 As shown, the end of the second link 21 may also have a three-dimensional force sensor 211. The three-dimensional force sensor 211 is connected to the third damper 22. The three-dimensional force sensor 211 can sense the force applied by the hand, calculate the specific data of the force applied by the hand, and transmit it back to the controller.

[0091] Specifically, the upper end of the three-dimensional force sensor 211 can be fixedly connected to the third damper 22.

[0092] In some embodiments, such as Figure 6 As shown, the third damper 22 includes a fixed base 221 and a first torsion spring 222. One end of the fixed base 221 is connected to the three-dimensional force sensor 211 in the second connecting rod 21, and the other end is rotated with the guide seat 23 about the Z-axis.

[0093] The first torsion spring 222 is sleeved and fixed to the outside of the fixed base 221. The two ends of the first torsion spring 222 are used to abut against the two limiting posts at the bottom of the guide seat 23 to provide resistance to the rotation of the guide seat 23.

[0094] One end of the first torsion spring 222 is designated as the first spring leg 2221, and the other end as the second spring leg 2222. Two limiting posts are designated as the first stop post 231 and the second stop post 232, respectively. In practical use, when the guide seat 23 rotates clockwise, the second stop post 232 pushes the second spring leg 2222 to move, while the first spring leg 2221 is restricted by the fixed seat 221 and cannot move. This causes the first torsion spring 222 to deform, generating elastic force, which is the damping force generated by the third damper 22. When the guide seat 23 rotates counterclockwise, the first stop post 231 pushes the first spring leg 2221 to move, while the second spring leg 2222 is restricted by the fixed seat 221 and cannot move. This causes the first torsion spring 222 to deform, generating elastic force, which in turn generates a damping force. Regardless of whether the guide seat 23 rotates clockwise or counterclockwise, a damping force is generated.

[0095] In some embodiments, such as Figure 1 As shown, the guide seat 23 is provided with multiple pairs of cam bearings 233. The cross-section of the motion ring 3 is "I" shaped. In each pair of cam bearings 233, two cam bearings 233 are located on both sides of the motion ring 3 and extend from both sides of the motion ring 3 into the guide groove 32 on the side of the motion ring 3. The cam bearings 233 can support the motion ring 3 to perform fan-shaped movements.

[0096] Specifically, the guide seat 23 is equipped with four pairs of cam bearings 233, totaling eight, to ensure the stability of the movement of the motion ring 3 relative to the guide seat 23.

[0097] In some embodiments, such as Figure 7 and Figure 8 As shown, the handle 5 includes a hand contact part 51, a handle base 52, and a plug part 53 that inserts into the slide groove 311, wherein:

[0098] The hand contact part 51 can be used by the patient to hold it. One end of the handle seat 52 is connected to the hand contact part 51, and the other end is connected to the plug part 53 to rotate around the Z-axis to realize the rotation of the patient's wrist joint. A fourth damper 8 is provided between the handle seat 52 and the plug part 53 to adjust the rotation resistance of the handle seat 52. The rehabilitation therapist can adjust the rotation resistance of the handle seat 52 through the fourth damper 8, so as to carry out more targeted rehabilitation training for the wrist joint.

[0099] The fourth damper 8 may also include a pressure sensor, which is used to detect the pressure exerted by the fourth damper 8 on the bottom of the plug portion 53 and send it to the processor. The processor can calculate the magnitude of the frictional force generated by the fourth damper 8 on the bottom of the plug portion 53 and send it to the display, which can display the magnitude of the damping generated by the fourth damper 8 in real time.

[0100] The working principle of the fourth damper 8 is similar to that of the first damper 6, as described below. Figure 8 A brief explanation of the structure of the fourth damper 8:

[0101] The fourth damper 8 includes a third cover plate 81, a third push rod 82, a third handle 83, a third elastic element 84, and a third top plate 85.

[0102] The third cover plate 81 is threaded, and the third push rod 82 is screwed into the thread on the third cover plate 81. The screwed-in end is fixedly connected to the third handle 83. The other end of the third push rod 82 passes through the third elastic element 84 and is close to one end of the third elastic element 84. The other end of the third elastic element 84 is close to the pressure sensor (not shown in the figure). The pressure sensor presses against the third top plate 85, and the third top plate 85 is close to the insertion part 53. The specific operating principle of the fourth damper 8 is similar to that of the first damper 6, and will not be described in detail here.

[0103] In some embodiments, such as Figure 8 As shown, the motion ring 3 is provided with a groove 311 for inserting the plug part 53. After the plug part 53 is inserted into the groove 311, the plug part 53 can be detachably connected to the motion ring 3 through the second locking member 54.

[0104] The second locking element 54 can be a locking pin. In use, the insertion part 53 can be inserted into the slide groove 311 from the bottom of the bearing seat 31 on the motion ring, and then the locking pin is pressed to lock it. The locking pin locks into the pin hole 531 of the insertion part 53, and the handle 5 cannot be pulled out at this time. If it is necessary to replace the handle 5, press the locking pin again, the locking pin will be released, and the handle 5 can be pulled out for replacement.

[0105] The aforementioned locking pin can be an outsourced component. Its locking and unlocking principles can be referenced from the existing technology of a ballpoint pen where the tip extends or retracts after the top button is pressed multiple times. Therefore, the structure of the locking pin will not be described in detail.

[0106] The structure of the second locking member 54 is simple. Compared with the threaded connection of the second locking member 54, it is easy to operate and can quickly disassemble the handle 5, making the connection between the patient and the device more convenient.

[0107] In some embodiments, such as Figure 9 and Figure 10 As shown, the arm support 4 and the motion ring 3 are detachably connected via a connecting assembly 9. The connecting assembly 9 includes: an elastic component 91, a rotating shaft 92, a second torsion spring 93, and a locking handle 94, wherein:

[0108] The support seat 31 of the motion ring 3 is provided with a mounting hole. The rotating shaft 92 is fixedly installed in the mounting hole of the support seat 31. The locking handle 94 is hinged to the rotating shaft 92. The second torsion spring 93 is sleeved on the outside of the rotating shaft 92. One end of the second torsion spring 93 is fixedly connected to the support seat 31, and the other end is fixedly connected to the locking handle 94.

[0109] The motion ring 3 has a sliding through hole 312 in a direction parallel to the rotation axis of the locking handle 94. The elastic component 91 is installed in the sliding through hole 312 and at least partially extends out of the sliding through hole 312. The part of the elastic component 91 extending out of the sliding through hole 312 can overcome the elastic force of the second torsion spring 93 and limit the locking handle 94 to the unlocking position.

[0110] The arm support 4 has a pressure block 41 for overcoming the elastic force of the elastic component 91 and pressing the elastic component 91 into the sliding through hole 312. The support base 31 may have a recessed placement groove 313 communicating with the sliding through hole 312, and the shape of the placement groove 313 matches the shape of the pressure block 41. When the pressure block 41 is pressed into the placement groove 313, it can press the part of the elastic component 91 that extends out of the sliding through hole 312 and enters the placement groove 313 back into the sliding through hole 312.

[0111] Additionally, the surface of the pressure block 41 facing the locking handle 94 is recessed with a locking groove 411. When the elastic component 91 is pressed into the sliding through hole 312, the elastic component 91 releases its obstruction of the locking handle 94, and the locking handle 94 rotates relative to the rotating shaft 92 under the elastic force of the second torsion spring 93 to the locking position where it is engaged in the locking groove 411. When it is necessary to remove the arm support 4, reverse the locking handle 94, and the locking handle 94 disengages from the locking groove 411. Then, remove the arm support 4. After removal, the elastic component 91 pops up, preventing the locking handle 94 from rotating.

[0112] The aforementioned connecting component 9 has a simple structure. The arm support 4 can be installed by simply pressing down on it, and the arm support 4 can be disassembled by rotating the locking handle 94. This allows for quick assembly and disassembly of the arm support 4, making the connection between the patient and the device more convenient.

[0113] In some embodiments, such as Figure 9 As shown, the elastic component 91 may include an elastic seat 911 and a telescopic block 912;

[0114] The telescopic block 912 slides along the depth direction of the sliding through hole 312 and engages with the sliding through hole 312. The elastic seat 911 is installed at one end of the sliding through hole 312 and abuts against the telescopic block 912 to keep the top of the telescopic block 912 protruding from the sliding through hole 312. The telescopic block 912 is used to overcome the elastic force of the second torsion spring and limit the locking handle 94 to the unlocking position.

[0115] To prevent the telescopic block 912 from falling out of the sliding through hole 312, a limiting step is provided at the end of the sliding through hole 312 away from the elastic seat 911 to limit the telescopic block 912. Figure 9 As shown, this prevents the telescopic block 912 from popping out from the top of the sliding through hole 312.

[0116] Specifically, the telescopic block 912 has a limiting block protruding from one end away from the elastic seat 911 for limiting the locking handle 94 to the unlocking position. The limiting block protrudes from the sliding through hole 312.

[0117] In some embodiments, such as Figure 9 As shown, the elastic seat 911 includes a spring cover 9111 and a spring 9112. The bottom of the bearing seat 31 is fixedly connected to the spring cover 9111. The lower end of the spring 9112 is placed in close contact with the spring cover 9111, and the upper end of the spring 9112 is placed in close contact with the telescopic block 912.

[0118] A second aspect of the present invention provides an end-effector rehabilitation robot, such as Figure 11 As shown, the end-effector rehabilitation robot provided by the second aspect of the present invention includes the above-described hand structure.

[0119] The end-effector rehabilitation robot provided in the second aspect of the present invention has the hand structure provided in the embodiments of the first aspect of the present invention, thereby having all the beneficial effects of the hand structure provided in the embodiments of the first aspect of the present invention.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A hand structure, characterized in that The device comprises a first extension arm (1), a second extension arm (2), a movement ring (3), an arm support (4) and a handle (5), wherein: One end of the second extension arm (2) is rotationally connected with the first extension arm (1) as the X-axis, and a first damper (6) is arranged between the second extension arm (2) and the first extension arm (1) for adjusting the rotational resistance of the second extension arm (2); The other end of the second extension arm (2) is slidingly connected with the movement ring (3) and has a rotational freedom as the Z-axis, the sliding path of the movement ring (3) extends around the Y-axis, the X-axis, the Y-axis and the Z-axis are perpendicular to each other, and a second damper (7) is arranged between the movement ring (3) and the second extension arm (2) for adjusting the rotational resistance of the movement ring (3); The arm support (4) and the handle (5) are respectively detachably connected to the movement ring (3), the handle (5) has a rotational freedom as the Z-axis, the rotational axis of the handle (5) is arranged apart from the hand contact part (51) of the handle (5), and the rotational axis of the handle (5) corresponds to the wrist joint of the patient; The first extension arm (1) comprises a first connecting rod (11), a first locking member (12), and a rotating seat (13) rotationally connected with the first connecting rod (11) as the Z-axis, the first locking member (12) is used for locking the rotational position of the rotating seat (13) relative to the first connecting rod (11); the beginning and end of the rotating path of the rotating seat (13) correspond to left limb rehabilitation training and right limb rehabilitation training, respectively; The first damper (6) comprises a first pressure sensor (61), which is used for detecting the pressure of the first damper (6) on the end surface of the second extension arm (2) and sending it to the processor; And / or, the second damper (7) comprises a second pressure sensor, which is used for detecting the pressure of the second damper (7) on the side surface of the movement ring (3) and sending it to the processor.

2. The hand structure of claim 1, wherein The first damper (6) comprises a first cover plate (62), a first push rod (63), a first elastic member (64) and a first top sheet (65); The first cover plate (62) is connected with the first extension arm (1), the first push rod (63) penetrates through the first cover plate (62) and extends into the first extension arm (1), and the first push rod (63) is threadedly connected with the first cover plate (62); The first top sheet (65) is located between the first push rod (63) and the end surface of the second extension arm (2) extending into the first extension arm (1); The first elastic member (64) is sleeved on the outside of the first push rod (63), one end of the first elastic member (64) abuts against the shaft shoulder of the first push rod (63), and the other end abuts against the first top sheet (65); The first pressure sensor (61) is arranged between the end surface of the second extension arm (2) and the first top sheet (65) or between the first elastic member (64) and the first top sheet (65).

3. The hand structure of claim 1, wherein One of the rotating seat (13) and the first connecting rod (11) is provided with a first proximity switch (111) corresponding to the left limb rehabilitation training and a second proximity switch (112) corresponding to the right limb rehabilitation training, and the other is provided with a protrusion for triggering the first proximity switch (111) and sending a left limb rehabilitation training identification signal or triggering the second proximity switch (112) and sending a right limb rehabilitation training identification signal.

4. The hand structure of claim 1, wherein The second extension arm (2) comprises a second connecting rod (21), a third damper (22) and a guide seat (23), one end of the second connecting rod (21) is rotationally connected with the first extension arm (1) with the X direction as the axis, the other end is rotationally connected with the guide seat (23) through the third damper (22) with the Z direction as the axis, and the guide seat (23) is slidingly connected with the movement ring (3).

5. The hand structure of claim 4, wherein The end of the second connecting rod (21) is provided with a three-dimensional force sensor (211), and the three-dimensional force sensor (211) is connected with the third damper (22).

6. The hand structure of claim 4, wherein The third damper (22) comprises a fixed seat (221) and a first torsional spring (222), one end of the fixed seat (221) is connected with the second connecting rod (21), and the other end is rotationally connected with the guide seat (23) with the Z direction as the axis. The first torsional spring (222) is sleeved and fixed outside the fixed seat (221), and the two ends of the first torsional spring (222) are used for corresponding abutting against two limiting columns at the bottom of the guide seat (23) to provide resistance for the rotation of the guide seat (23).

7. The hand structure of claim 1, wherein The movement ring (3) is provided with a sliding groove (311), and the handle (5) comprises the hand contact part (51), a handle seat (52) and a plug-in part (53) inserted into the sliding groove (311). One end of the handle seat (52) is connected with the hand contact part (51), and the other end is rotationally connected with the plug-in part (53) with the Z direction as the axis, and a fourth damper (8) for adjusting the rotation resistance of the handle seat (52) is arranged between the handle seat (52) and the plug-in part (53), and the plug-in part (53) is detachably connected with the movement ring (3) through a second locking member (54).

8. The hand structure of claim 1, wherein An elastic assembly (91), a rotating shaft (92), a second torsional spring (93) and a locking handle (94) are arranged between the arm support (4) and the movement ring (3). The rotating shaft (92) is connected with the movement ring (3), the locking handle (94) is rotationally connected with the rotating shaft (92), the second torsional spring (93) is sleeved outside the rotating shaft (92), and the two ends of the second torsional spring (93) are connected with the movement ring (3) and the locking handle (94) respectively. The movement ring (3) is provided with a sliding through hole (312) in a direction parallel to the rotation axis of the locking handle (94), the elastic assembly (91) is installed in the sliding through hole (312) and at least partially extends out of the sliding through hole (312), so as to limit the locking handle (94) to an unlocking position by overcoming the elastic force of the second torsional spring (93). The arm support (4) has a pressing block (41) for pressing the elastic assembly (91) into the sliding through hole (312) against the elastic force of the elastic assembly (91), and the surface of the pressing block (41) towards the locking handle (94) is concave with a locking groove (411); when the elastic assembly (91) is pressed into the sliding through hole (312), the locking handle (94) rotates relative to the rotating shaft (92) to a locking position of being clamped into the locking groove (411) under the elastic force of the second torsional spring (93).

9. An end rehabilitation robot characterized by, A hand structure as claimed in any one of claims 1-8.

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