A multifunctional wrist rehabilitation robot with a handle

Abstract

The present application relates to a kind of multifunctional wrist exercise rehabilitation robot of grip, including finger rehabilitation component, wrist rehabilitation component and rack component;Finger rehabilitation component is driven by a motor to control finger transmission shaft by gear set to realize two kinds of movement mode of rehabilitation training, i.e.single finger independent dorsiflexion / palmar flexion movement and five fingers dorsiflexion / palmar flexion movement;Wrist rehabilitation component is projected to the plane with 15 ° angle with horizontal plane by the elliptical trajectory of wrist torsion on horizontal plane, so that it becomes more easily driven circular trajectory, to realize two degrees of freedom complex motion of wrist joint, i.e.wrist torsion is driven by a motor;Hand rehabilitation and wrist rehabilitation are combined, and three kinds of movement mode of rehabilitation training can be realized.The present application realizes hand, wrist function integration comprehensive rehabilitation training by ingenious structure design, is conducive to improving rehabilitation training effect, to speed up the rehabilitation process of patient.

Description

Technical Field

[0001] This invention belongs to the field of rehabilitation training equipment technology, specifically relating to a grip-type multifunctional wrist movement rehabilitation robot. Background Technology

[0002] Currently, my country's age structure is trending towards aging at its peak, and the incidence of stroke in my country continues to rise, with a trend towards affecting younger people. Stroke typically leads to the loss of neurological function in the brain, resulting in hemiplegia. Hemiplegic symptoms include motor impairments in the upper and lower limbs. During the rehabilitation of limb motor function, the recovery of function in the hand and wrist is the most difficult and slowest.

[0003] Medical trial data shows that if hemiplegic patients begin rehabilitation training within three months post-surgery, the treatment effectiveness rate can reach 92.4%, and other symptoms can be prevented during this period. Compared to traditional manual rehabilitation training, robot-assisted therapy eliminates the need for continuous therapist involvement, saving significant labor costs. Robot-assisted therapy ensures safe, intensive, and task-oriented rehabilitation at a relatively moderate cost. Rehabilitation robots can precisely apply force according to training needs, improving accuracy and reducing variability. The training movements provided by rehabilitation robots effectively improve muscle strength, range of motion, and motor coordination.

[0004] Currently, finger rehabilitation institutions mainly fall into two categories: exoskeleton-type and end-effector traction-type. Both types are relatively large, and a typical finger rehabilitation institution requires at least four motors to control the individual movement of each of the five fingers, which significantly increases cost and weight. Furthermore, hand rehabilitation robots generally treat the finger joints and wrist joints separately, with very few offering integrated rehabilitation of the wrist and hand. However, from a medical perspective, the joints in the human hand are highly interconnected, and hand movement is achieved through the combined movements of the fingers and wrist. Rehabilitation of only the finger or wrist joints, compared to rehabilitation of the entire hand, can result in stiffness in the patient's movements and less than ideal recovery outcomes. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, this invention provides a grip-type multifunctional wrist movement rehabilitation robot that can achieve finger joint flexion / extension and wrist joint rotation. Furthermore, the finger rehabilitation component design incorporates two modes: coordinated movement of all five fingers driven by a single motor and individual movement, increasing the mechanism's portability and saving costs.

[0006] To solve the above problems, the present invention is achieved through the following technical solution:

[0007] A grip-type multifunctional wrist movement rehabilitation robot includes a frame assembly and finger rehabilitation components and wrist rehabilitation components mounted on the frame assembly;

[0008] The wrist rehabilitation component includes an upper torsion mechanism, a lower torsion mechanism, a second reduction motor, and a drive gear. The upper and lower torsion mechanisms are rotatably connected to the upper and lower ends of the base of the frame assembly, respectively. The second reduction motor drives the lower torsion mechanism to rotate through the drive gear, thereby realizing a composite movement of two degrees of freedom of the wrist: dorsiflexion / palmar flexion and radial / ulnar deviation.

[0009] The finger rehabilitation component includes a drive mechanism, a thumb drive mechanism, an index finger drive mechanism, a middle finger drive mechanism, a ring finger drive mechanism, a little finger drive mechanism, a grip, a sealing cover, and a first geared motor. The sealing cover is fixedly installed on the top of the grip, and the top of the sealing cover is connected to the upper torsion mechanism, while the bottom of the grip is connected to the lower torsion mechanism. The thumb drive mechanism, index finger drive mechanism, middle finger drive mechanism, ring finger drive mechanism, and little finger drive mechanism are respectively hinged to the grip. The first geared motor drives the thumb drive mechanism, index finger drive mechanism, middle finger drive mechanism, ring finger drive mechanism, and little finger drive mechanism through the drive mechanism to achieve two movement modes: flexion / extension of a single finger joint and coordinated flexion / extension of all five finger joints.

[0010] Furthermore, the drive mechanism includes a drive shaft, a reel, a four-finger coordinated motion gear set, a four-finger individual motion gear set, and a bevel gear set; the four-finger coordinated motion gear set includes four motion gears: an index finger coordinated motion gear, a middle finger coordinated motion gear, a ring finger coordinated motion gear, and a little finger coordinated motion gear; the four-finger individual motion gear set includes four motion gears: an index finger individual motion gear, a middle finger individual motion gear, a ring finger individual motion gear, and a little finger individual motion gear; the bevel gear set includes an index finger bevel gear, a middle finger bevel gear, a ring finger bevel gear, and a little finger bevel gear.

[0011] The drive shaft is located inside the grip and is driven to rotate by the first reduction motor. The moving gears of the four-finger coordinated motion gear set and the four-finger single motion gear set are all compound gears. The compound gear consists of a bevel pinion and an incomplete spur gear. The incomplete spur gear has straight teeth on only 45° of its outer circumference. During assembly, the four moving gears of the four-finger single motion gear set are fixedly mounted on the drive shaft and staggered at 45° in the circumferential direction. The four moving gears of the four-finger coordinated motion gear set are rotatably mounted on the drive shaft and are axially staggered with the four moving gears of the four-finger single motion gear set. The straight teeth of the four moving gears of the four-finger coordinated motion gear set are located on the same side and do not coincide with the axial direction of the straight teeth of the four moving gears of the four-finger single motion gear set. The two compound gears of two adjacent gear sets are symmetrically arranged, and the two opposite bevel pinions mesh with the four bevel gears of the bevel gear set, respectively.

[0012] Furthermore, the thumb transmission mechanism includes a thumb transmission rod and a thumb end fixing sleeve. The thumb end fixing sleeve is hinged to the thumb transmission rod. The thumb transmission rod is rotatably connected to the grip via a rotating shaft. A compression torsion spring is fitted onto the rotating shaft. The thumb transmission rod is connected to a spool via a rope. The spool is fixedly fitted onto the drive shaft.

[0013] Furthermore, the index finger transmission mechanism includes an index finger transmission rod one, an index finger transmission rod two, an index finger drive rod, and an index finger sleeve; one end of the index finger transmission rod one is provided with two arc-shaped gears, which mesh with the index finger single motion gear and the index finger coordinated motion gear respectively; one end of the index finger transmission rod one with the arc-shaped gear is hinged to the middle of the index finger drive rod, and the other end is hinged to the grip; both ends of the index finger drive rod are hinged to the index finger transmission rod two and the index finger sleeve respectively, and the other end of the index finger transmission rod two is hinged to the grip.

[0014] Furthermore, the middle finger transmission mechanism includes a middle finger transmission rod one, a middle finger transmission rod two, a middle finger drive rod, and a middle finger sleeve; one end of the middle finger transmission rod one is provided with two arc-shaped gears, which mesh with a single middle finger movement gear and a middle finger coordinated movement gear, respectively; one end of the middle finger transmission rod one with the arc-shaped gear is hinged to the middle part of the middle finger drive rod, and the other end is hinged to the grip; both ends of the middle finger drive rod are hinged to the middle finger transmission rod two and the middle finger sleeve, respectively; and the other end of the middle finger transmission rod two is hinged to the grip.

[0015] Furthermore, the ring finger transmission mechanism includes a ring finger transmission rod one, a ring finger transmission rod two, a ring finger drive rod, and a ring finger sleeve; one end of the ring finger transmission rod one is provided with two arc-shaped gears, which mesh with the ring finger single motion gear and the ring finger coordinated motion gear, respectively; one end of the ring finger transmission rod one with the arc-shaped gear is hinged to the middle of the ring finger drive rod, and the other end is hinged to the grip; both ends of the ring finger drive rod are hinged to the ring finger transmission rod two and the ring finger sleeve, respectively; and the other end of the ring finger transmission rod two is hinged to the grip.

[0016] Furthermore, the little finger transmission mechanism includes a little finger transmission rod one, a little finger transmission rod two, a little finger drive rod, and a little finger sleeve; one end of the little finger transmission rod one is provided with two arc-shaped gears, which mesh with a little finger single motion gear and a little finger cooperative motion gear respectively; one end of the little finger transmission rod one with the arc-shaped gear is hinged to the middle of the little finger drive rod, and the other end is hinged to the grip; both ends of the little finger drive rod are hinged to the little finger transmission rod two and the little finger sleeve respectively; and the other end of the little finger transmission rod two is hinged to the grip.

[0017] Furthermore, the frame assembly includes a base, an upper disc cover, and a lower disc cover; the base is provided with an upper circular hole and a lower circular hole, and a circular slide rail is provided in both the upper and lower circular holes; the upper disc cover and the lower disc cover are respectively fixedly installed on the upper circular hole and the lower circular hole to restrict the axial movement of the disc sliders of the upper and lower torsion mechanisms.

[0018] Further, the upper torsion mechanism includes an upper disc slider, an upper rack slider, an upper adjusting gear, an upper annular sealing cover, an upper adjusting shaft, an upper adjusting knob, an upper cylindrical slider, an upper sealing cover, an upper ball joint fixing cover, and a compression spring A; the upper disc slider is rotatably connected to the upper hole on the base, the upper annular sealing cover is fixed on the upper disc slider and together with the upper disc slider form a cavity for accommodating the upper rack slider and the upper adjusting gear; the lower part of the upper adjusting gear extends out of the cavity and is rotatably connected to the upper annular sealing cover through the upper adjusting shaft, and the upper adjusting knob is threaded to one end of the upper adjusting shaft; the upper end of the upper rack slider is slidably connected to the upper disc slider, and the lower end extends out of the cavity and is connected to the upper cylindrical slider through a ball joint structure, the ball joint structure being rotatably installed inside the upper rack slider through the upper ball joint fixing cover; the upper sealing cover is slidably fitted onto the upper cylindrical slider and its bottom is threaded to the sealing cover, and a compression spring A is installed inside the upper sealing cover, with both ends of the compression spring A connected to the upper cylindrical slider and the sealing cover, respectively.

[0019] Further, the lower torsion mechanism includes a lower disc slider, a lower rack slider, a lower adjusting gear, a lower annular sealing cover, a lower adjusting shaft, a lower adjusting knob, a lower cylindrical slider, a lower sealing cover, a lower ball joint fixing cover, and a compression spring B. The lower disc slider is rotatably connected to the lower circular hole of the base. The lower annular sealing cover is fixed on the lower disc slider and forms a cavity with the lower disc slider to accommodate the lower adjusting gear and the lower disc slider. The lower part of the lower adjusting gear extends out of the cavity and is rotatably connected to the lower annular sealing cover through the lower adjusting shaft. The lower adjusting knob is threaded to one end of the lower adjusting shaft. The upper end of the lower rack slider is slidably connected to the lower disc slider, and the lower end extends out of the cavity and is connected to the lower cylindrical slider through a ball joint structure. The ball joint structure is rotatably installed inside the lower rack slider through the lower ball joint fixing cover. The lower sealing cover is slidably fitted on the lower cylindrical slider, and a compression spring B is installed inside it. The lower sealing cover is threadedly connected to the handle, and the two ends of the compression spring B are respectively connected to the lower cylindrical slider and the handle.

[0020] The present invention has the following beneficial effects:

[0021] (1) This invention realizes two movement modes: single finger movement controlled by a motor and coordinated movement of five fingers. Furthermore, wrist joint rotation replaces wrist joint dorsiflexion / palmar flexion and radial / ulnar deviation, reducing the number of motors required. This achieves lightweight design and cost savings while meeting the rehabilitation needs of patients.

[0022] (2) The grip structure used in this invention is smaller in size than the mainstream exoskeleton and distal traction finger rehabilitation structures.

[0023] (3) This invention combines finger rehabilitation and wrist rehabilitation, and can achieve rehabilitation training in three movement modes: single flexion / extension of finger joints, synergistic flexion / extension, and forward and reverse twisting of wrist joints. It realizes coordinated rehabilitation treatment of hand and wrist, which helps patients accelerate the rehabilitation process and improve the rehabilitation training effect.

[0024] (4) The present invention can adjust the tilt angle of the grip, which can better meet the rehabilitation angle needs of different patients with radial / ulnar deviation of the wrist. Attached Figure Description

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0027] Figure 2 This is a schematic diagram of the finger rehabilitation component mechanism.

[0028] Figure 3 This is a schematic diagram of a five-finger drive mechanism.

[0029] Figure 4 This is a diagram illustrating the change from a flexed to an extended state of the thumb and index finger.

[0030] Figure 5 This is a schematic diagram of the drive mechanism.

[0031] Figure 6 This is a schematic diagram of the drive mechanism's engagement method.

[0032] Figure 7 This is a schematic diagram of the five-finger flexion / extension drive mechanism.

[0033] Figure 8 This is a schematic diagram of the wrist rehabilitation component mechanism.

[0034] Figure 9 This is a schematic diagram of the upper torsion mechanism. Figure I .

[0035] Figure 10 This is a schematic diagram of the upper torsion mechanism. Figure II .

[0036] Figure 11 This is a schematic diagram of the lower torsion mechanism. Figure I .

[0037] Figure 12 This is a schematic diagram of the lower torsion mechanism. Figure II .

[0038] Figure 13 This is a schematic diagram of the rack assembly.

[0039] In the diagram: 1-Finger rehabilitation component, 11-Drive mechanism, 111-Drive shaft, 112-Coupling, 113-Spindle, 114-Four-finger coordinated movement gear set, 1141-Index finger coordinated movement gear, 1142-Middle finger coordinated movement gear, 1143-Ring finger coordinated movement gear, 1144-Little finger coordinated movement gear, 115-Four-finger individual movement gear set, 1151-Index finger individual movement gear, 1152-Middle finger individual movement gear, 1153-Ring finger individual movement gear, 1154-Little finger individual movement gear, 116-Bevel gear set. 1161-Index finger bevel gear, 1162-Middle finger bevel gear, 1163-Ring finger bevel gear, 1164-Little finger bevel gear, 12-Thumb transmission mechanism, 121-Thumb transmission rod, 122-Thumb end fixation, 13-Index finger transmission mechanism, 131-Index finger transmission rod one, 132-Index finger transmission rod two, 133-Index finger drive rod, 134-Index finger sleeve, 14-Middle finger transmission mechanism, 141-Middle finger transmission rod one, 142-Middle finger transmission rod two, 143-Middle finger drive rod, 144-Middle finger sleeve, 15-Ring finger transmission mechanism, 151 - Ring finger transmission rod one, 152 - Ring finger transmission rod two, 153 - Ring finger drive rod, 154 - Ring finger sleeve, 16 - Little finger transmission mechanism, 161 - Little finger transmission rod one, 162 - Little finger transmission rod two, 163 - Little finger drive rod, 164 - Little finger sleeve, 17 - Grip, 18 - Sealing cover, 19 - First geared motor, 2 - Wrist rehabilitation component, 21 - Upper torsion mechanism, 211 - Upper disc slider, 212 - Upper rack slider, 213 - Upper adjusting gear, 214 - Upper annular sealing cover, 215 - Upper adjusting shaft, 216 - Upper adjusting... 217-Upper cylindrical slider, 218-Upper sealing cover, 219-Upper ball joint fixing cover, 22-Lower torsion mechanism, 221-Lower disc slider, 222-Lower rack slider, 223-Lower adjusting gear, 224-Lower annular sealing cover, 225-Lower adjusting shaft, 226-Lower adjusting knob, 227-Lower cylindrical slider, 228-Lower sealing cover, 229-Lower ball joint fixing cover, 23-Second reduction motor, 24-Drive gear, 3-Frame assembly, 31-Base, 32-Upper disc cover, 33-Lower disc cover, 4-Hook and loop fastener, 5-Two-finger model. Detailed Implementation

[0040] The 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 in a schematic manner. Therefore, they only show the components relevant to the invention, and the directions and references are only used to aid in the description of the features in the drawings. Therefore, the following specific embodiments are not intended to be restrictive, and the scope of the claimed subject matter is defined solely by the appended claims and their equivalents.

[0041] like Figure 1 As shown, a grip-type multifunctional wrist rehabilitation robot includes a finger rehabilitation component 1, a wrist rehabilitation component 2, and a frame component 3.

[0042] like Figure 2 As shown, the finger rehabilitation component 1 includes a drive mechanism 11, a thumb transmission mechanism 12, an index finger transmission mechanism 13, a middle finger transmission mechanism 14, a ring finger transmission mechanism 15, a little finger transmission mechanism 16, a grip 17, a sealing cover 18, and a first reduction motor 19. The sealing cover 18 and the grip 17 are axially fixedly connected. The drive mechanism 11, thumb transmission mechanism 12, index finger transmission mechanism 13, middle finger transmission mechanism 14, ring finger transmission mechanism 15, and little finger transmission mechanism 16 are respectively hinged to the grip 17. The thumb transmission mechanism 12 is connected to the drive mechanism 11 via a rope. The index finger transmission mechanism 13, middle finger transmission mechanism 14, ring finger transmission mechanism 15, and little finger transmission mechanism 16 are respectively engaged with the drive mechanism 11 via gear meshing. The first reduction motor 19 is axially fixedly connected to the drive mechanism 11. The forward and reverse rotation of the first reduction motor 19 can realize the flexion / extension of a single finger joint and the coordinated flexion / extension of five finger joints.

[0043] In specific implementation, the handle 17 is cylindrical, with a drive shaft 111 rotatably mounted inside the cylinder. A sealing cover 18 is fixedly connected to the top of the cylinder. The bottom of the drive shaft extends from the cylinder and is connected to a first reduction motor 19 via a coupling 112, and is driven to rotate by the first reduction motor 19. A spool 113, a four-finger coordinated motion gear set 114, and a four-finger individual motion gear set 115 are mounted on the drive shaft 111. The side wall of the cylinder has a first opening for installing the thumb transmission mechanism 12 and a second opening for installing the four-finger transmission mechanism. The four-finger coordinated motion gear set 114 and the four-finger individual motion gear set 115 are exposed in the second opening and are respectively connected to the four-finger transmission mechanism through a bevel gear set 116. The drive shaft 111, coupling 112, spool 113, four-finger coordinated motion gear set 114, four-finger individual motion gear set 115, and bevel gear set 116 constitute the drive mechanism 11.

[0044] like Figure 5 , Figure 6As shown, the four-finger coordinated motion gear set 114 includes four motion gears: index finger coordinated motion gear 1141, middle finger coordinated motion gear 1142, ring finger coordinated motion gear 1143, and little finger coordinated motion gear 1144. The four-finger single motion gear set 115 includes four motion gears: index finger single motion gear 1151, middle finger single motion gear 1152, ring finger single motion gear 1153, and little finger single motion gear 1154. The bevel gear set 116 includes index finger bevel gear 1161, middle finger bevel gear 1162, ring finger bevel gear 1163, and little finger bevel gear 1164.

[0045] Both the four-finger coordinated motion gear set 114 and the four-finger single motion gear set 115 have compound gears. Each compound gear consists of a bevel pinion and a partially spur gear. The partially spur gear has straight teeth only on a 45° circumference of its outer circumference. During assembly, the four motion gears of the four-finger single motion gear set 115 are fixedly mounted on the drive shaft 111 and staggered at 45° in the circumferential direction. The four motion gears of the four-finger coordinated motion gear set 114 are rotatably mounted on the drive shaft 111 and are axially staggered with the four motion gears of the four-finger single motion gear set 115. The straight teeth of the four motion gears of the four-finger coordinated motion gear set 114 are located on the same side and do not axially coincide with the straight teeth of the four motion gears of the four-finger single motion gear set 115.

[0046] The two compound gears of two adjacent gear sets are symmetrically arranged, that is, the two bevel pinions are opposite each other, and the two opposite bevel pinions mesh with the four bevel gears of the bevel gear set 116 respectively; for example, the two small bevel gears of the index finger cooperative motion gear 1141 and the index finger single motion gear 1151 are opposite each other and both mesh with the index finger bevel gear 1161.

[0047] The working principle of the aforementioned drive mechanism 11 is as follows:

[0048] When the first reduction motor 19 rotates clockwise, the drive shaft 111 drives the index finger single-motion gear 1151, middle finger single-motion gear 1152, ring finger single-motion gear 1153, and little finger single-motion gear 1154 to rotate clockwise. This, in turn, drives the index finger coordinated motion gear 1141, middle finger coordinated motion gear 1142, ring finger coordinated motion gear 1143, and little finger coordinated motion gear 1144 to rotate counterclockwise via the bevel gear set 116. Conversely, when the first reduction motor 19 rotates counterclockwise, it drives the four-finger single-motion gear set 115 to rotate counterclockwise and the four-finger coordinated motion gear set 114 to rotate clockwise.

[0049] like Figure 3 , Figure 4As shown, the thumb transmission mechanism 12 includes a thumb transmission rod 121 and a thumb end fixing sleeve 122. The thumb end fixing sleeve 122 is hinged to the thumb transmission rod 121. The thumb transmission rod 121 is rotatably connected to the grip 17 via a rotating shaft. The rotating shaft is rotatably located in the first opening of the grip 17 and a compression torsion spring is mounted on the rotating shaft. The thumb transmission rod 121 is connected to a spool 113 via a rope. The spool 113 is fixedly mounted on the drive shaft 111.

[0050] The thumb end fixing sleeve 122 is fixed to the distal joint of the thumb by Velcro 4. When the spool 113 rotates clockwise, the rope wound on the spool pulls the thumb transmission rod 121 to rotate clockwise around the axis. The compression torsion spring is in a compressed state, and the thumb transmission rod 121 drives the thumb end fixing sleeve 122 to extend, thus enabling the thumb to complete the extension action. When the spool 113 rotates counterclockwise, the compression torsion spring rotates back, driving the thumb transmission rod 121 to rotate counterclockwise around the axis. The thumb transmission rod 121 drives the thumb end fixing sleeve 122 to flex, thus enabling the thumb to complete the flexion action.

[0051] The index finger transmission mechanism 13 includes an index finger transmission rod 131, an index finger transmission rod 132, an index finger drive rod 133, and an index finger sleeve 134. One end of the index finger transmission rod 131 has a U-shaped opening, and the end of the index finger transmission rod 131 with the U-shaped opening is designed as an arc, with arc-shaped teeth on the arc surface that mesh with the index finger single motion gear 1151 and the index finger cooperative motion gear 1141, respectively. The end of the index finger transmission rod 131 with the U-shaped opening is hinged to the middle of the index finger drive rod 133 via a rotating shaft. The other end of the index finger transmission rod 131 is hinged to the grip 17. The two ends of the index finger drive rod 133 are hinged to the index finger transmission rod 132 and the index finger sleeve 134, respectively. The other end of the index finger transmission rod 132 is hinged to the grip 17.

[0052] The middle finger transmission mechanism 14 includes a middle finger transmission rod 141, a middle finger transmission rod 142, a middle finger drive rod 143, and a middle finger sleeve 144. The structure of the middle finger transmission rod 141 is the same as that of the index finger transmission rod 131. The connection relationship between the middle finger transmission rod 141 and the middle finger coordinated motion gear 1142 and the middle finger single motion gear 1152, as well as the connection relationship between the middle finger transmission rod 141, the middle finger drive rod 143, the middle finger transmission rod 142, the middle finger sleeve 144, and the grip 17 are the same as those of the index finger transmission mechanism 13.

[0053] The ring finger transmission mechanism 15 includes a ring finger transmission rod 151, a ring finger transmission rod 152, a ring finger drive rod 153, and a ring finger sleeve 154. The structure of the ring finger transmission rod 151 is the same as that of the index finger transmission rod 131. The connection relationship between the ring finger transmission rod 151 and the ring finger single motion gear 1153 and the ring finger cooperative motion gear 1143, as well as the connection relationship between the ring finger transmission rod 151, the ring finger transmission rod 152, the ring finger drive rod 153, the ring finger sleeve 154, and the grip 17, is the same as that of the index finger transmission mechanism 13.

[0054] The little finger transmission mechanism 16 includes a little finger transmission rod 161, a little finger transmission rod 162, a little finger drive rod 163, and a little finger sleeve 164. The structure of the little finger transmission rod 161 is the same as that of the index finger transmission rod 131. The connection relationship between the little finger transmission rod 161 and the little finger single motion gear 1154 and the little finger cooperative motion gear 1144, as well as the connection relationship between the little finger transmission rod 161, the little finger transmission rod 162, the little finger drive rod 163, the little finger sleeve 164, and the grip 17 are the same as those of the index finger transmission mechanism 13.

[0055] The index finger sleeve 134 is fixed to the distal joint of the index finger via Velcro 4. When the index finger transmission rod 131 rotates counterclockwise around the pivot in the first opening of the grip 17, the index finger transmission rod 132 drives the index finger drive rod 133 to rotate clockwise around the hinge axis. The index finger drive rod 133 then extends the index finger sleeve 134, thus enabling the index finger to complete the extension action. Conversely, when the index finger transmission rod 131 rotates clockwise around the pivot in the first opening of the grip 17, it enables the index finger to complete the flexion action. The middle finger transmission mechanism 14, ring finger transmission mechanism 15, and little finger transmission mechanism 16 have different lengths than the index finger transmission mechanism 13, but have the same structure and movement.

[0056] The working principle of finger rehabilitation component 1 is as follows:

[0057] See Figure 4 and Figure 7 In the initial state, the arc-shaped teeth of the index finger transmission rod 131 are just engaged with the index finger single motion gear 1151, and the straight teeth of the four motion gears of the four-finger coordinated motion gear set 114 overlap with the straight teeth of the little finger single motion gear 1154.

[0058] When the first reduction motor 19 rotates clockwise, the reel 113 rotates clockwise, driving the thumb to begin extending. The four-finger individual motion gear set 115 rotates clockwise, and the four-finger coordinated motion gear set 114 rotates counterclockwise. The four-finger individual motion gear set 115 first drives the index finger transmission rod 131 to rotate counterclockwise via the index finger individual motion gear set 1151, thus driving the index finger to begin extending. After the first reduction motor 19 rotates 45°, the index finger extension ends. If the motor then rotates counterclockwise by 45°, the index finger flexion can be achieved. If the first reduction motor 19 continues to rotate clockwise, the middle finger individual motion gear set 1152 begins to drive the middle finger transmission rod 141 to rotate counterclockwise, thus driving the middle finger to begin extending. After the first reduction motor 19 rotates another 45°, the middle finger extension ends. When the extension movement ends, if the motor rotates counterclockwise by 45°, the middle finger can be flexed. If the motor continues to rotate clockwise, the ring finger single motion gear 1153 starts to drive the ring finger transmission rod 151 to rotate counterclockwise, thus causing the ring finger to start the extension movement. When the first reduction motor 19 rotates another 45°, the ring finger extension movement ends. If the motor rotates counterclockwise by 45°, the ring finger can be flexed. If the first reduction motor 19 continues to rotate clockwise, the little finger single motion gear 1154 starts to drive the little finger transmission rod 161 to rotate counterclockwise, thus causing the little finger to start the extension movement. When the motor rotates another 45°, the little finger extension movement ends. If the motor rotates counterclockwise by 45°, the little finger flexion movement can be achieved.

[0059] If the first reduction motor 19 continues to rotate clockwise, the index finger transmission rod 131, index finger transmission rod 132, index finger drive rod 133, and index finger sleeve 134 begin to mesh with the four-finger coordinated movement gear set 114. The four-finger coordinated movement gear set 114 drives the index finger transmission rod 131, middle finger transmission rod 141, ring finger transmission rod 151, and little finger transmission rod 161 to rotate counterclockwise simultaneously, driving the four fingers to flex in coordination. After the motor rotates 45°, the four-finger coordinated flexion action and the thumb extension action end. Then, when the first reduction motor 19 rotates 225° counterclockwise, the five fingers perform rehabilitation exercises in the following order: four-finger coordinated extension, thumb flexion → little finger flexion → ring finger flexion → middle finger flexion → index finger flexion → thumb flexion end.

[0060] like Figure 13As shown, the frame assembly 3 mainly supports and fixes the forearm, including a base 31, an upper disc cover 32, and a lower disc cover 33. The base 31 has an upper and a lower circular hole, each containing a circular slide rail. The bottom surface of the base forms a 15° angle with the horizontal plane, and the line connecting the centers of the upper and lower circular holes forms a 60° angle with the bottom surface of the base. This results in a 15° angle between the grip 17 and the vertical plane of the base, meaning the radial / ulnar deviation angle of the wrist is -15° to 15°, meeting the rehabilitation angle requirements for radial / ulnar deviation of the wrist. The upper and lower disc covers 32 and 33 are fixedly installed on the upper and lower circular holes, respectively, to restrict the axial movement of the disc sliders of the upper and lower torsion mechanisms 21 and 22. The upper disc cover 32 is flat, and the lower disc cover 33 has mounting holes for installing the lower torsion mechanism 22.

[0061] like Figure 8 As shown, the wrist rehabilitation component 2 includes an upper torsion mechanism 21, a lower torsion mechanism 22, a second reduction motor 23, and a drive gear 24. The upper torsion mechanism 21 and the lower torsion mechanism 22 are respectively installed in the upper and lower circular holes of the base 31. The upper torsion mechanism 21 is connected to the handle 17, and the lower torsion mechanism 22 is connected to the sealing cover 18. The second reduction motor 23 is fixed on the base 31. The drive gear 24 is axially connected to the second reduction motor 23 and meshes with the lower torsion mechanism 22. The forward and reverse rotation of the second reduction motor 23 can drive the handle 17 to rotate along the circular guide rails in the upper and lower circular holes of the base 31. The rotation trajectory projected onto the horizontal plane is elliptical, which fits the torsion trajectory of the wrist and can realize the forward and reverse torsion of the wrist joint.

[0062] In specific implementation, such as Figure 9 , Figure 10As shown, the upper torsion mechanism 21 includes an upper disc slider 211, an upper rack slider 212, an upper adjusting gear 213, an upper annular sealing cover 214, an upper adjusting shaft 215, an upper adjusting knob 216, an upper cylindrical slider 217, an upper sealing cover 218, and an upper ball joint fixing cover 219. The upper disc slider 211 is rotatably connected to the upper circular hole of the base 31 via an annular slide rail. The bottom of the upper disc slider 211 is provided with a rack that meshes with the upper adjusting gear 213 and a rectangular guide rail that slides with the upper rack slider 212. The upper annular sealing cover 214 is fixed on the upper disc slider 211 and together with the upper disc slider 211, forms a cavity for accommodating the upper adjusting gear 213 and the upper rack slider 212. The lower part of the upper adjusting gear 213 extends from the cavity and is rotatably connected to the upper annular sealing cover 214 via an upper adjusting shaft 215 that passes through the gear cover and the central hole of the upper adjusting gear 213. One end of the upper adjusting shaft 215 is provided with a limiting head, and the other end is threadedly connected to the upper adjusting knob 216. The upper rack slider 212 is mounted on a rectangular guide rail, and its lower part extends from the cavity and is connected to the upper cylindrical slider 217 via a ball joint structure. The ball joint structure is fixed on the upper cylindrical slider 217 and is rotatably mounted in the opening groove of the upper rack slider 212 via the upper ball joint fixing cover 219. The upper sealing cover 218 is slidably fitted on the upper cylindrical slider 217, and a compression spring A is installed inside it. The upper sealing cover 218 is threadedly connected to the sealing cover 18, and the two ends of the compression spring A are respectively connected to the upper cylindrical slider 217 and the sealing cover 18.

[0063] like Figure 11 , Figure 12As shown, the lower torsion mechanism 22 includes a lower disc slider 221, a lower rack slider 222, a lower adjusting gear 223, a lower annular sealing cover 224, a lower adjusting shaft 225, a lower adjusting knob 226, a lower cylindrical slider 227, a lower sealing cover 228, and a lower ball joint fixing cover 229. The lower disc slider 221 is rotatably connected to the lower circular hole of the base 31 via an annular slide rail. The upper outer circumferential surface of the lower disc slider 221 is provided with a ring of teeth that meshes with the drive gear 24. The upper side of the lower disc slider 221 is provided with a rectangular guide rail that slides with the lower rack slider 222 and a rack that meshes with the lower adjusting gear 223. The lower annular sealing cover 224 is fixed to the lower disc slider 221, forming a cavity with the lower disc slider 221 to accommodate the lower adjusting gear 223 and the lower disc slider 221. The lower part of the lower adjusting gear 223 extends out of the cavity and is rotatably connected to the lower annular sealing cover 224 through the lower adjusting shaft 225, which passes through the gear cover plate and the center hole of the lower adjusting gear 223. One end of the lower adjusting shaft 225 is provided with a limiting head, and the other end is threadedly connected to the lower adjusting knob 226. The lower rack slider 222 is mounted on a rectangular guide rail, and its lower part extends out of the cavity and is connected to the lower cylindrical slider 227 through a ball joint structure. The ball joint structure is fixed to the lower cylindrical slider 227 and is rotatably installed in the opening groove of the lower rack slider 222 through the lower ball joint fixing cover 229. The lower sealing cover 228 is slidably mounted on the lower cylindrical slider 227, and a compression spring B is installed inside it. The lower sealing cover 228 is threadedly connected to the handle 17, and the two ends of the compression spring B are respectively connected to the lower cylindrical slider 227 and the handle 17.

[0064] When the upper adjustment knob 216 and the lower adjustment knob 226 are adjusted simultaneously with the same number of turns, the adjustment gears that cooperate with the adjustment knobs simultaneously drive the upper rack slider 212 and the lower rack slider 222 to move towards the rotation center of the disc slider, changing the tilt angle of the grip 17 to meet the rehabilitation angle requirements of different patients with radial / ulnar deviation of the wrist.

[0065] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A grip-type multifunctional wrist exercise rehabilitation robot, characterized in that, Includes a rack assembly (3) and a finger rehabilitation assembly (1) and a wrist rehabilitation assembly (2) mounted on the rack assembly (3); The wrist rehabilitation component (2) includes an upper torsion mechanism (21), a lower torsion mechanism (22), a second reduction motor (23), and a drive gear (24). Both the upper torsion mechanism (21) and the lower torsion mechanism (22) include a ball joint structure. The upper torsion mechanism (21) and the lower torsion mechanism (22) are rotatably connected to the upper and lower ends of the base (31) of the frame component (3), respectively. The second reduction motor (23) drives the lower torsion mechanism (22) to rotate through the drive gear (24); thus realizing the composite movement of the wrist with two degrees of freedom: dorsiflexion / palmar flexion and radial / ulnar deviation. The finger rehabilitation component (1) includes a drive mechanism (11), a thumb transmission mechanism (12), an index finger transmission mechanism (13), a middle finger transmission mechanism (14), a ring finger transmission mechanism (15), a little finger transmission mechanism (16), a grip (17), a sealing cover (18), and a first reduction motor (19). The sealing cover (18) is fixedly installed on the top of the grip (17). The top of the sealing cover (18) is connected to the upper torsion mechanism (21), and the bottom of the grip (17) is connected to the lower torsion mechanism (22). The thumb (12), index finger transmission mechanism (13), middle finger transmission mechanism (14), ring finger transmission mechanism (15) and little finger transmission mechanism (16) are respectively hinged to the grip (17). The first geared motor (19) drives the thumb transmission mechanism (12), index finger transmission mechanism (13), middle finger transmission mechanism (14), ring finger transmission mechanism (15) and little finger transmission mechanism (16) through the drive mechanism (11) to realize two movement modes: flexion / extension of a single finger joint and coordinated flexion / extension of five finger joints. The drive mechanism (11) includes a drive shaft (111), a spool (113), a four-finger coordinated motion gear set (114), a four-finger individual motion gear set (115), and a bevel gear set (116); The drive shaft (111) is located inside the grip (17) and is driven to rotate by the first reduction motor (19); the moving gears of the four-finger coordinated motion gear set (114) and the four-finger single motion gear set (115) are both compound gears. The compound gear consists of a bevel pinion and an incomplete spur gear. The incomplete spur gear has straight teeth on only 45° of the outer circumference. During assembly, the four moving gears of the four-finger single motion gear set (115) are fixedly mounted on the drive shaft (111) and staggered at 45° in the circumferential direction. The four moving gears of the four-finger coordinated motion gear set (114) are rotatably mounted on the drive shaft (111) and are axially staggered with the four moving gears of the four-finger single motion gear set (115). The straight teeth of the four moving gears of the four-finger coordinated motion gear set (114) are located on the same side and are also staggered with the four-finger single motion gears. The thumb transmission mechanism (12) includes a thumb transmission rod (121) and a thumb end fixing sleeve (122). The thumb end fixing sleeve (122) is hinged to the thumb transmission rod (121). The thumb transmission rod (121) is rotatably connected to the grip (17) through a rotating shaft. A compression torsion spring is fitted on the rotating shaft. The thumb transmission rod (121) is connected to a spool (113) through a rope. The spool (113) is fixedly fitted on the drive shaft (111).

2. The grip-type multifunctional wrist exercise rehabilitation robot according to claim 1, characterized in that, The four-finger coordinated motion gear set (114) includes four motion gears: index finger coordinated motion gear (1141), middle finger coordinated motion gear (1142), ring finger coordinated motion gear (1143), and little finger coordinated motion gear (1144); the four-finger single motion gear set (115) includes four motion gears: index finger single motion gear (1151), middle finger single motion gear (1152), ring finger single motion gear (1153), and little finger single motion gear (1154); the bevel gear set (116) includes an index finger bevel gear (1161), middle finger bevel gear (1162), ring finger bevel gear (1163), and little finger bevel gear (1164).

3. The grip-type multifunctional wrist exercise rehabilitation robot according to claim 1, characterized in that, The index finger transmission mechanism (13) includes an index finger transmission rod one (131), an index finger transmission rod two (132), an index finger drive rod (133), and an index finger sleeve (134). One end of the index finger transmission rod one (131) is provided with two arc-shaped gears, which mesh with the index finger single motion gear (1151) and the index finger cooperative motion gear (1141) respectively. One end of the index finger transmission rod one (131) with arc-shaped gears is hinged to the middle of the index finger drive rod (133), and the other end is hinged to the grip (17). The two ends of the index finger drive rod (133) are hinged to the index finger transmission rod two (132) and the index finger sleeve (134) respectively, and the other end of the index finger transmission rod two (132) is hinged to the grip (17).

4. The grip-type multifunctional wrist exercise rehabilitation robot according to claim 1, characterized in that, The middle finger transmission mechanism (14) includes a middle finger transmission rod one (141), a middle finger transmission rod two (142), a middle finger drive rod (143), and a middle finger sleeve (144). One end of the middle finger transmission rod one (141) is provided with two arc-shaped gears, which mesh with the middle finger single motion gear (1152) and the middle finger cooperative motion gear (1142) respectively. One end of the middle finger transmission rod one (141) with arc-shaped gears is hinged to the middle part of the middle finger drive rod (143), and the other end is hinged to the grip (17). The two ends of the middle finger drive rod (143) are hinged to the middle finger transmission rod two (142) and the middle finger sleeve (144) respectively. The other end of the middle finger transmission rod two (142) is hinged to the grip (17).

5. The grip-type multifunctional wrist exercise rehabilitation robot according to claim 1, characterized in that, The ring finger transmission mechanism (15) includes a ring finger transmission rod one (151), a ring finger transmission rod two (152), a ring finger drive rod (153), and a ring finger sleeve (154). One end of the ring finger transmission rod one (151) is provided with two arc-shaped gears, which mesh with the ring finger single motion gear (1153) and the ring finger cooperative motion gear (1143) respectively. One end of the ring finger transmission rod one (151) with arc-shaped gears is hinged to the middle of the ring finger drive rod (153), and the other end is hinged to the grip (17). The two ends of the ring finger drive rod (153) are hinged to the ring finger transmission rod two (152) and the ring finger sleeve (154) respectively. The other end of the ring finger transmission rod two (152) is hinged to the grip (17).

6. The grip-type multifunctional wrist exercise rehabilitation robot according to claim 1, characterized in that, The little finger transmission mechanism (16) includes a little finger transmission rod one (161), a little finger transmission rod two (162), a little finger drive rod (163), and a little finger sleeve (164). One end of the little finger transmission rod one (161) is provided with two arc-shaped gears, which mesh with the little finger single motion gear (1154) and the little finger cooperative motion gear (1144) respectively. One end of the little finger transmission rod one (161) with arc-shaped gears is hinged to the middle of the little finger drive rod (163), and the other end is hinged to the handle (17). The two ends of the little finger drive rod (163) are hinged to the little finger transmission rod two (162) and the little finger sleeve (164) respectively. The other end of the little finger transmission rod two (162) is hinged to the handle (17).

7. The grip-type multifunctional wrist exercise rehabilitation robot according to claim 1, characterized in that, The frame assembly (3) includes a base (31), an upper disc cover (32) and a lower disc cover (33); the base (31) is provided with an upper circular hole and a lower circular hole, and a circular slide rail is provided in both the upper and lower circular holes; the upper disc cover (32) and the lower disc cover (33) are respectively fixedly installed on the upper circular hole and the lower circular hole to limit the axial movement of the disc sliders of the upper torsion mechanism (21) and the lower torsion mechanism (22).

8. A grip-type multifunctional wrist exercise rehabilitation robot according to claim 7, characterized in that, The upper torsion mechanism (21) includes an upper disc slider (211), an upper rack slider (212), an upper adjusting gear (213), an upper annular sealing cover (214), an upper adjusting shaft (215), an upper adjusting knob (216), an upper cylindrical slider (217), an upper sealing cover (218), an upper ball joint fixing cover (219), and a compression spring A; the upper disc slider (211) is rotatably connected to the circular hole on the base, and the upper annular sealing cover (214) is fixed on the upper disc slider (211) and surrounds the upper disc slider (211) to form a cavity for accommodating the upper rack slider (212) and the upper adjusting gear (213); the lower part of the upper adjusting gear (213) extends out from the cavity and passes through the upper adjusting knob. The joint shaft (215) is rotatably connected to the upper annular sealing cover (214), and the upper adjustment knob (216) is threadedly connected to one end of the upper adjustment shaft (215); the upper end of the upper rack slider (212) is slidably connected to the upper disc slider (211), and the lower end extends out of the cavity and is connected to the upper cylindrical slider (217) through a ball joint structure. The ball joint structure is rotatably installed in the upper rack slider (212) through the upper ball joint fixing cover (219); the upper sealing cover (218) is slidably fitted on the upper cylindrical slider (217) and its bottom is threadedly connected to the sealing cover (18). A compression spring A is installed in the upper sealing cover (218), and the two ends of the compression spring A are respectively connected to the upper cylindrical slider (217) and the sealing cover (18).

9. A grip-type multifunctional wrist exercise rehabilitation robot according to claim 7, characterized in that, The lower torsion mechanism (22) includes a lower disc slider (221), a lower rack slider (222), a lower adjusting gear (223), a lower annular sealing cover (224), a lower adjusting shaft (225), a lower adjusting knob (226), a lower cylindrical slider (227), a lower sealing cover (228), a lower ball joint fixing cover (229), and a compression spring B; the lower disc slider (221) is rotatably connected to the lower circular hole of the base, and the lower annular sealing cover (224) is fixed on the lower disc slider (221), forming a cavity with the lower disc slider (221) to accommodate the lower adjusting gear (223) and the lower disc slider (221); the lower part of the lower adjusting gear (223) extends out of the cavity and is adjusted downwards. The joint shaft (225) is rotatably connected to the lower annular sealing cover (224). The lower adjustment knob (226) is threadedly connected to one end of the lower adjustment shaft (225). The upper end of the lower rack slider (222) is slidably connected to the lower disc slider (221). The lower end extends out of the cavity and is connected to the lower cylindrical slider (227) through a ball joint structure. The ball joint structure is rotatably installed inside the lower rack slider (222) through the lower ball joint fixing cover (229). The lower sealing cover (228) is slidably fitted on the lower cylindrical slider (227). A compression spring B is installed inside it. The lower sealing cover (228) is threadedly connected to the handle (17). The two ends of the compression spring B are respectively connected to the lower cylindrical slider (227) and the handle (17).

Images