Finger rehabilitation training device and use method thereof

Abstract

The invention discloses a finger rehabilitation training device and a use method thereof. In order to solve the problems that an existing finger rehabilitation training device is poor in comfort and generates shearing force on the surfaces of fingers, the finger rehabilitation training device adopts the mode that a multi-connecting-rod mechanism and a plate spring mechanism are connected in series to drive the fingers to bend and stretch, rehabilitation training work of the fingers is achieved, the comfort of the fingers is improved, and force transmission is more stable, flexible and uniform; the sleeve rings sleeving the fingers are fixed to the connecting pieces connected with the corresponding connecting blocks in a sliding mode, in the finger bending and straightening process, when the sleeve rings generate shearing force on the surfaces of the fingers, the three connecting pieces slide relative to the first connecting block, the second connecting block and the third connecting block correspondingly, and therefore the fingers can be bent and straightened. And the displacement difference between the position of the corresponding lantern ring and the position of the finger when the finger naturally bends and stretches when each plate spring deforms can be effectively reduced, so that the shearing force of the lantern ring on the surface of the finger is reduced, the comfort of the finger in the bending and stretching process is improved, and the finger is prevented from being secondarily injured.

Description

Technical Field

[0001] The invention belongs to the field of finger rehabilitation training, and in particular relates to a finger rehabilitation training device and a use method thereof. Background Art

[0002] Stroke is a disease that causes pathological changes in the cerebral artery and vein system due to various reasons. It has a high disability rate and can cause limb impairment. Among them, the hand is an important organ of the human body and an indispensable part of life and labor. It is difficult to restore its function after damage, and the user loses the ability to take care of themselves, which has a serious impact on the user's daily life. Relevant studies have shown that for hand paralysis caused by stroke, after certain rehabilitation training, about 20%-30% of users can restore their hand function to a state of practical life, and 30%-40% of users can restore their hand function to a state of assisted living.

[0003] The existing finger rehabilitation treatment is to conduct finger rehabilitation training for users through rehabilitation physicians and finger rehabilitation training devices. When rehabilitation physicians conduct one-on-one rehabilitation treatment, there are problems of large workload and high cost, and the treatment effect depends on the experience and quality of the physician. The training effect of different physicians is very different. At the same time, due to the limited treatment time and intensity of the physician, it is impossible to maintain a high level of treatment continuously, and the treatment efficiency is low. The existing finger rehabilitation training device mainly drives the fingers to flex and extend through a multi-link mechanism, but the motion trajectory cannot adapt well to the natural flexion and extension trajectory of the fingers, resulting in poor human-machine compatibility between the finger rehabilitation training device and the various finger joints, poor comfort during finger rehabilitation training, and a relatively complex structure, heavy weight, and high manufacturing cost; the existing finger rehabilitation training device also realizes finger rehabilitation training by adopting an elastic element structure, using the bending deformation of the elastic element at the finger to drive the finger to flex and extend through a ring, but there are problems of poor stability of long-distance transmission of the elastic element and uneven force, and when the elastic element drives the finger to flex and extend through the ring, a certain displacement difference is generated between the actual position of the ring on the finger and the theoretical position when the finger flexes and extends naturally, thereby causing the ring to pull the finger and generate shear force on the finger surface, thereby affecting the comfort during finger rehabilitation training, and when the shear force is too large, it may cause secondary damage to the finger. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a finger rehabilitation training device and a method of using the same.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] The present invention discloses a finger rehabilitation training device, comprising a support plate, an electric cylinder, a connecting rod, a connecting rod 1, a connecting block 1, a sliding rod 1, a connecting rod 2, a sliding rod 2, a connecting block 2, a connecting block 3, a leaf spring 1, a leaf spring 2, a collar and a connecting piece.

[0007] The support plate and the connecting block 1 are arranged at a distance; one end of the electric cylinder is hinged to an end of the support plate away from the connecting block 1, and the other end is hinged to the middle of the connecting rod; the lower end of the connecting rod is hinged to an end of the support plate close to the connecting block 1, and the upper end is hinged to one end of the connecting rod 1, and the other end of the connecting rod 1 is hinged to the upper end of the connecting block 1; the sliding rod 1, the connecting rod 2 and the sliding rod 2 are arranged between the connecting rod and the connecting block 1, and one end of the sliding rod 1 forms a sliding pair with a through groove 1 opened in the middle of the connecting block 1, and the other end is hinged to the lower end of the connecting rod 2, the upper end of the connecting rod 2 is hinged to the lower end of the sliding rod 2, and the upper end of the sliding rod 2 is fixed on The connecting rod is provided with a through slot 2 in the middle part; one end of the leaf spring 1 passes through the through slot 1 and is fixed to the sliding rod 1, and the middle part passes through the through slot 3 formed at the upper end of the connecting block 2, and the other end is fixed to the upper end of the connecting block 3; the leaf spring 2 is provided with two spaced-apart leaf springs, one of which has two ends fixed to the lower ends of the connecting block 1 and the connecting block 2, and the other has two ends fixed to the lower ends of the connecting block 2 and the connecting block 3; the connecting member is provided with three spaced-apart connecting members, and the three connecting rods respectively form sliding pairs with the lower ends of the connecting block 1, the connecting block 2 and the connecting block 3; a ring is fixed on the lower surface of the support plate and each connecting member.

[0008] Preferably, the central axes of the through slot one, through slot two and through slot three are located in the same vertical plane.

[0009] Preferably, the second sliding rod is composed of a threaded rod section and a nut, the lower end of the threaded rod section is hinged to the upper end of the second connecting rod, the nut is connected to the thread of the upper end of the threaded rod section, and the bottom surface of the nut presses the top surface of the second through groove.

[0010] Preferably, in the initial state, the support plate, the connecting block 1, the connecting block 2 and the connecting block 3 are sequentially arranged at intervals along the same horizontal line, and the leaf spring 1 and the two leaf springs 2 are in a free state.

[0011] Preferably, loosen the connection between the nut and the threaded rod segment, manually adjust the position of the sliding rod 2 in the through slot 2, and thereby adjust the bending degree of the leaf spring 1 to achieve that after assembly, the support plate, connecting block 1, connecting block 2 and connecting block 3 are arranged in sequence along the same horizontal line in the initial state, and retighten the nut after adjustment.

[0012] Preferably, when leaf spring 1 ages, the position of sliding rod 2 in through slot 2 is adjusted to compensate for the elastic force of leaf spring 1, so as to restore the initial state in which the support plate, connecting block 1, connecting block 2 and connecting block 3 are arranged in sequence along the same horizontal line.

[0013] Preferably, the connecting block 1 is further provided with a through slot 4 and a guide rail arranged at intervals from top to bottom below the through slot 1, the connecting block 2 is further provided with a through slot 4 and a guide rail arranged at intervals from top to bottom below the through slot 3, and the connecting block 3 is provided with a through slot 3, a through slot 4 and a guide rail arranged at intervals from top to bottom; both sides of the connecting block 1, the connecting block 2 and the connecting block 3 are provided with an integrally formed pin shaft; the connecting pieces are all U-shaped, and the middle part is provided with an integrally formed convex strip, and the inner walls on both sides are provided with a slide groove; the connecting block 1, the connecting block 2 or The two pins on the connecting block three are embedded in the two slide grooves of the corresponding connecting parts, and form a sliding pair with the two slide grooves respectively, and the guide rails of the connecting block one, the connecting block two or the connecting block three and the convex strips of the corresponding connecting parts form a sliding pair; the end of the leaf spring one away from the sliding rod one is fixed to the through groove three of the connecting block three, the two ends of the leaf spring two between the connecting block one and the connecting block two are fixed to the through groove four of the connecting block one and the connecting block two respectively, and the two ends of the leaf spring two between the connecting block two and the connecting block three are fixed to the through groove four of the connecting block two and the connecting block three respectively.

[0014] Preferably, the collar is made of elastic material.

[0015] The present invention provides a method for using a finger rehabilitation training device, which is specifically as follows:

[0016] Put the ring on the support plate on the palm, with the support plate on the back of the hand, and put the rings on each connecting piece on the proximal phalanx, middle phalanx and distal phalanx of the finger in sequence. When working, the piston rod of the electric cylinder reciprocates to extend and shorten, so that the finger reciprocates to bend and straighten.

[0017] When the piston rod of the electric cylinder is extended, the piston rod of the electric cylinder pushes the connecting rod to rotate in the direction close to the connecting block 1, and the connecting rod pushes the connecting block 1 through the connecting rod 1, and the connecting block 1 drives the proximal phalanx to rotate in the direction close to the palm through the corresponding sleeve ring, and at the same time, the angle between the connecting rod 1 and the connecting block 1 is reduced, so that the sliding rod 1 slides along the sliding groove 1 in the direction away from the connecting rod, and the leaf spring 1 generates elastic force under the thrust of the sliding rod 1, and also causes the two leaf springs 2 to generate elastic force under the bending load, and the leaf spring 2 between the connecting block 1 and the connecting block 2 drives the middle phalanx to rotate in the direction close to the palm through the connecting block 2 and the corresponding sleeve ring, and the leaf spring 2 between the connecting block 2 and the connecting block 3 drives the distal phalanx to rotate in the direction close to the palm through the connecting block 3 and the corresponding sleeve ring, so that the finger changes from a straight state to a bent state;

[0018] When the piston rod of the electric cylinder is shortened, the piston rod of the electric cylinder pulls the connecting rod to rotate in the direction away from the connecting block 1, the connecting rod pulls the connecting block 1 through the connecting rod 1, the connecting block 1 drives the proximal phalanx to rotate in the direction away from the palm through the corresponding collar, and at the same time, the angle between the connecting rod 1 and the connecting block 1 increases, so that the sliding rod 1 slides along the sliding groove 1 in the direction close to the connecting rod, the sliding rod 1 pulls the leaf spring 1, so that the leaf spring 1 and the two leaf springs 2 return to their original state, and the leaf spring 2 between the connecting block 1 and the connecting block 2 drives the middle phalanx to rotate in the direction away from the palm through the connecting block 2 and the corresponding collar, and the leaf spring 2 between the connecting block 2 and the connecting block 3 drives the distal phalanx to rotate in the direction away from the palm through the connecting block 3 and the corresponding collar, so that the finger changes from a bent state to an extended state;

[0019] During the bending and straightening of the finger, when the collar generates shear force on the finger surface, the proximal phalanx, the middle phalanx and the distal phalanx drive the corresponding connecting parts and the connecting block 1, the connecting block 2 and the connecting block 3 to slide relative to each other through the corresponding collar.

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

[0021] 1. The present invention can drive the fingers to perform flexion and extension movements, thereby realizing rehabilitation training for the fingers, and has a simple structure, light weight, and low manufacturing cost. Specifically, the present invention drives the proximal phalanx to rotate toward or away from the center of the palm through a multi-link mechanism, and drives the leaf spring structure through the multi-link mechanism, so that each leaf spring in the leaf spring structure is deformed to drive the middle phalanx and the distal phalanx to rotate toward the center of the palm, or drives the middle phalanx and the distal phalanx to rotate away from the center of the palm through the restoring force of each leaf spring in the leaf spring structure, thereby realizing the flexion and extension movements of the fingers. The present invention uses a multi-link mechanism and a leaf spring mechanism in series, which ingeniously combines the high motion accuracy, high force control robustness, and The advantages of high power transmission efficiency and the advantage that the leaf spring structure can be highly consistent with the finger movement trajectory when deformed, greatly enhance the accuracy, compliance, compatibility, convenience and adaptability of the present invention; further, the leaf spring mechanism is composed of three sections of leaf springs and two connecting blocks in series. The three sections of leaf springs can imitate the functions of finger tendons and ligaments to a certain extent, and provide support and feedback similar to the natural movement of the human body during exercise. It can better adapt to local mechanical requirements and can effectively absorb and buffer impact force during finger joint movement, avoiding excessive concentration of force on the overall structure, making the force transmission more stable, flexible and uniform, thereby reducing the risk of joint injury.

[0022] 2. In the present invention, the rings used for the proximal phalanx, the middle phalanx and the distal phalanx are fixed on three connecting parts, and the three connecting parts are slidably connected to the connecting block 1, the connecting block 2 and the connecting block 3 respectively, so that when the ring generates shear force on the finger surface during the bending and straightening of the finger, the proximal phalanx, the middle phalanx and the distal phalanx drive the three connecting parts to slide relative to the connecting block 1, the connecting block 2 and the connecting block 3 respectively, effectively reducing the displacement difference between the actual position of the ring during the flexion and extension of the finger and the theoretical position during the natural flexion and extension of the finger, thereby reducing the shear force generated by the ring on the finger surface, improving the comfort during the flexion and extension of the finger, and preventing the finger from being injured again.

[0023] 3. The present invention can manually adjust the position of the sliding rod 2 in the through slot 2 by loosening the connection between the nut and the threaded rod section, thereby adjusting the bending degree of the leaf spring 1 to achieve that the support plate, the connecting block 1, the connecting block 2 and the connecting block 3 are arranged in sequence along the same horizontal line in the initial state after assembly, and the nut can be retightened after adjustment. Furthermore, when the leaf spring 1 is aged, the elastic force of the leaf spring 1 can also be compensated by adjusting the position of the sliding rod 2 in the through slot 2, so as to realize that the support plate, the connecting block 1, the connecting block 2 and the connecting block 3 are arranged in sequence along the same horizontal line in the initial state, and ensure that the fingers are bent and straightened to reach the designed accurate position during training.

[0024] 4. During use, the present invention uses the proximal phalanx of the finger as a part of the multi-link mechanism, making the proximal phalanx one of the key components of the multi-link mechanism. The present invention relies on the proximal phalanx to have a high self-alignment ability, further ensuring the movement accuracy and force control stability of the present invention.

[0025] 5. The present invention can also cut off the power supply of the electric cylinder, so that the fingers can actively bend and straighten back and forth, thereby performing load strengthening training. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the initial state structure of the present invention;

[0027] Figure 2 It is a schematic diagram of the structure of the connecting piece and the second connecting block or the third connecting block in the present invention;

[0028] Figure 3 It is a schematic diagram of the bending state structure of the present invention. DETAILED DESCRIPTION

[0029] The present invention is further described below in conjunction with the accompanying drawings.

[0030] like Figure 1As shown, a finger rehabilitation training device of the present invention includes a support plate 1, an electric cylinder 2, a connecting rod 3, a connecting rod 1 4, a connecting block 1 5, a sliding rod 1 6, a connecting rod 2 7, a sliding rod 2 8, a connecting block 2 9, a connecting block 3 10, a leaf spring 1 11, a leaf spring 2 12, a collar 13 and a connecting piece 14.

[0031] The supporting plate 1 and the connecting block 5 are arranged at intervals; one end of the electric cylinder 2 is hinged to the end of the supporting plate 1 away from the connecting block 5, and the other end is hinged to the middle part of the connecting rod 3; the lower end of the connecting rod 3 is hinged to the end of the supporting plate 1 close to the connecting block 5, and the upper end is hinged to one end of the connecting rod 4, and the other end of the connecting rod 4 is hinged to the upper end of the connecting block 5; the sliding rod 16, the connecting rod 27 and the sliding rod 28 are arranged between the connecting rod 3 and the connecting block 5, and one end of the sliding rod 16 and the through groove 1 opened in the middle part of the connecting block 5 constitute a sliding pair, and the other end is hinged to the lower end of the connecting rod 27, the upper end of the connecting rod 27 is hinged to the lower end of the sliding rod 28, and the upper end of the sliding rod 28 is fixed in the through groove 2 opened in the middle part of the connecting rod 4. Specifically, the sliding rod 28 is composed of a threaded rod section and a nut, the lower end of the threaded rod section is hinged to the upper end of the connecting rod 27, and the nut is hinged to the threaded rod at the upper end of the threaded rod section. The connection is carried out, and the bottom surface of the nut presses the top surface of the through slot two; one end of the leaf spring 11 passes through the through slot one and is fixed to the sliding rod 1 6, the middle part passes through the through slot three opened at the upper end of the connecting block 2 9, and the other end is fixed to the upper end of the connecting block 3 10; the central axes of the through slots one, two and three are located in the same vertical plane; the leaf spring 2 12 is provided with two spaced-apart leaf springs, one of which has two ends fixed to the lower ends of the connecting block 1 5 and the connecting block 2 9, and the other has two ends fixed to the lower ends of the connecting block 2 9 and the connecting block 3; the connecting piece 14 is provided with three spaced-apart connecting pieces, and the three connecting pieces 14 respectively form sliding pairs with the lower ends of the connecting block 1 5, the connecting block 2 9 and the connecting block 3; a collar 13 is fixed to the lower surface of the support plate 1 and each connecting piece 14, and the size of the collar 13 on the lower surface of the support plate 1 is larger than the size of the collar 13 on each connecting piece 14. In the initial state, the support plate 1, the connecting block 1 5, the connecting block 2 9 and the connecting block 3 are arranged in sequence along the same horizontal line, and the leaf spring 1 11 and the two leaf springs 2 12 are in a free state. By loosening the connection between the nut and the threaded rod section, the position of the sliding rod 2 8 in the through slot 2 can be manually adjusted, thereby adjusting the bending degree of the leaf spring 1 1, which can make it easier to achieve that the support plate 1, the connecting block 1 5, the connecting block 2 9 and the connecting block 3 are arranged in sequence along the same horizontal line in the initial state after assembly, and the nut can be retightened after adjustment; moreover, when the leaf spring 11 is aged and loosened, the position of the sliding rod 2 8 in the through slot 2 can also be adjusted in this way to compensate for the elastic force of the leaf spring 11, so as to realize that the support plate 1, the connecting block 1 5, the connecting block 2 9 and the connecting block 3 are arranged in sequence along the same horizontal line in the initial state, and ensure that the fingers are bent and extended to reach the designed accurate position during training.

[0032] As a preferred embodiment, Figure 2 As shown, the connecting block 1 5 is further provided with a through slot 4 and a guide rail arranged at intervals from top to bottom under the through slot 1, the connecting block 2 9 is further provided with a through slot 4 and a guide rail arranged at intervals from top to bottom under the through slot 3, and the connecting block 3 10 is provided with a through slot 3, a through slot 4 and a guide rail arranged at intervals from top to bottom; both sides of the connecting block 1 5, the connecting block 2 9 and the connecting block 3 10 are provided with an integrally formed pin shaft; the connecting members 14 are all U-shaped, and the middle part is provided with an integrally formed convex strip, and the inner walls on both sides are provided with slide grooves; the two pin shafts on the connecting block 1 5, the connecting block 2 9 or the connecting block 3 are embedded in the two slide grooves of the corresponding connecting member 14, and the two slide grooves respectively form a A sliding pair is formed (the two ends of the slide groove are closed, and the sliding position of the slide groove relative to the pin shaft is limited to prevent the connecting member 14 from detaching from the connecting block 1 5, the connecting block 2 9 or the connecting block 3), and the guide rails of the connecting block 1 5, the connecting block 2 9 or the connecting block 3 and the convex strips of the corresponding connecting member 14 form a sliding pair; the end of the leaf spring 11 away from the sliding rod 1 6 is fixed to the through groove 3 of the connecting block 3 10, the two ends of the leaf spring 2 12 between the connecting block 1 5 and the connecting block 2 9 are respectively fixed to the through grooves 4 of the connecting block 1 5 and the connecting block 2 9, and the two ends of the leaf spring 2 12 between the connecting block 2 and the connecting block 3 10 are respectively fixed to the through grooves 4 of the connecting block 2 and the connecting block 3 10.

[0033] As a preferred embodiment, the collar 13 is made of elastic material.

[0034] The present invention provides a method for using a finger rehabilitation training device, which is specifically as follows:

[0035] The ring 13 on the support plate 1 is put on the palm, and the support plate 1 is located on the back of the hand, and the rings 13 on each connecting member 14 are put on the proximal phalanx, middle phalanx and distal phalanx of the finger. During operation, the piston rod of the electric cylinder reciprocates to extend and shorten, so that the finger is reciprocated to bend and straighten for training.

[0036] When the piston rod of the electric cylinder 2 is extended, the piston rod of the electric cylinder 2 pushes the connecting rod 3 to rotate in the direction close to the connecting block 15, and the connecting rod 3 pushes the connecting block 15 through the connecting rod 14. The connecting block 15 drives the proximal phalanx to rotate in the direction close to the palm through the corresponding ring 13. At the same time, the angle between the connecting rod 14 and the connecting block 15 is reduced, so that the sliding rod 16 slides along the sliding groove 1 in the direction away from the connecting rod, and the leaf spring 11 generates elastic force under the thrust of the sliding rod 16, which also causes the two leaf springs 2 12 to generate elastic force under the bending load, and the leaf spring 2 12 between the connecting block 15 and the connecting block 29 drives the middle phalanx to rotate in the direction close to the palm through the connecting block 29 and the corresponding ring 13, and the leaf spring 2 12 between the connecting block 29 and the connecting block 3 10 drives the distal phalanx to rotate in the direction close to the palm through the connecting block 3 10 and the corresponding ring 13, so that the finger changes from a straight state to a bent state. Figure 3 shown.

[0037] When the piston rod of the electric cylinder 2 is shortened, the piston rod of the electric cylinder 2 pulls the connecting rod 3 to rotate in the direction away from the connecting block 5, and the connecting rod 3 pulls the connecting block 5 through the connecting rod 4. The connecting block 5 drives the proximal phalanx to rotate in the direction away from the center of the palm through the corresponding ring 13. At the same time, the angle between the connecting rod 4 and the connecting block 5 increases, so that the sliding rod 6 slides along the slide groove 1 in the direction close to the connecting rod, and the sliding rod 6 pulls the leaf spring 11 to restore the leaf spring 11 and the two leaf springs 2 12 to their original state, and the leaf spring 2 12 between the connecting block 1 5 and the connecting block 2 9 drives the middle phalanx to rotate in the direction away from the center of the palm through the connecting block 2 9 and the corresponding ring 13, and the leaf spring 2 12 between the connecting block 2 9 and the connecting block 3 10 drives the distal phalanx to rotate in the direction away from the center of the palm through the connecting block 3 10 and the corresponding ring 13, thereby changing the finger from a bent state to an extended state.

[0038] Among them, during the bending and extension of the finger, when the ring generates shear force on the surface of the finger, the proximal phalanx, the middle phalanx and the distal phalanx drive the corresponding connecting parts 14 and the connecting blocks 1 5, 2 9 and 3 10 through the corresponding rings 13 to respectively generate relative sliding. When the leaf spring 1 11 and each leaf spring 2 12 are deformed, the displacement difference between the actual position of the ring 13 at the connecting blocks 1 5, 2 9 and 3 10 and the theoretical position during the natural flexion and extension of the finger is effectively reduced, thereby reducing the shear force generated by the ring on the surface of the finger, improving the comfort during the flexion and extension of the finger, and preventing the finger from being injured again.

[0039] The present invention can also realize an enhanced rehabilitation training mode, in which the electric cylinder is powered off, and the fingers actively perform reciprocating bending and straightening, thereby performing load-enhanced training.

Claims

1. A finger rehabilitation training device, comprising a support plate, an electric cylinder, a connecting rod and a collar, characterized in that: It also includes connecting rod 1, connecting block 1, sliding rod 1, connecting rod 2, sliding rod 2, connecting block 2, connecting block 3, leaf spring 1, leaf spring 2 and connecting piece; the support plate and connecting block 1 are arranged at a distance; one end of the electric cylinder is hinged to the end of the support plate away from the connecting block 1, and the other end is hinged to the middle part of the connecting rod; the lower end of the connecting rod is hinged to the end of the support plate close to the connecting block 1, the upper end is hinged to one end of the connecting rod 1, and the other end of the connecting rod 1 is hinged to the upper end of the connecting block 1; the sliding rod 1, connecting rod 2 and sliding rod 2 are arranged between the connecting rod and the connecting block 1, and one end of the sliding rod 1 forms a sliding pair with a through groove 1 opened in the middle of the connecting block 1, and the other end is hinged to the lower end of the connecting rod 2. The upper end is hinged with the lower end of the sliding rod two, and the upper end of the sliding rod two is fixed in the through slot two opened in the middle of the connecting rod one; one end of the leaf spring one passes through the through slot one and is fixed to the sliding rod one, and the middle part passes through the through slot three opened at the upper end of the connecting block two, and the other end is fixed to the upper end of the connecting block three; the leaf spring two is provided with two spaced apart arrangements, one of which has two ends fixed to the lower ends of the connecting block one and the connecting block two, and the other has two ends fixed to the lower ends of the connecting block two and the connecting block three; the connecting piece is provided with three spaced apart arrangements, and the three connecting rods respectively form sliding pairs with the lower ends of the connecting block one, the connecting block two and the connecting block three; a ring is fixed on the lower surface of the support plate and each connecting piece.

2. A finger rehabilitation training device according to claim 1, characterized in that: The central axes of the through slot one, through slot two and through slot three are located in the same vertical plane.

3. A finger rehabilitation training device according to claim 1, characterized in that: The second sliding rod is composed of a threaded rod section and a nut. The lower end of the threaded rod section is hinged to the upper end of the second connecting rod. The nut is connected to the thread of the upper end of the threaded rod section, and the bottom surface of the nut presses the top surface of the second through groove.

4. The finger rehabilitation training device according to claim 1, characterized in that: In the initial state, the support plate, the connection block 1, the connection block 2 and the connection block 3 are arranged in sequence along the same horizontal line, and the leaf spring 1 and the two leaf springs 2 are in a free state.

5. A finger rehabilitation training device according to claim 4, characterized in that: Loosen the connection between the nut and the threaded rod section, manually adjust the position of the sliding rod 2 in the through slot 2, thereby adjusting the bending degree of the leaf spring 1, so that after assembly, the support plate, connecting block 1, connecting block 2 and connecting block 3 are arranged in sequence along the same horizontal line in the initial state, and retighten the nut after adjustment.

6. A finger rehabilitation training device according to claim 5, characterized in that: When the leaf spring 1 ages, the position of the sliding rod 2 in the through slot 2 is adjusted to compensate for the elastic force of the leaf spring 1, so as to realize the initial state in which the support plate, the connecting block 1, the connecting block 2 and the connecting block 3 are arranged in sequence along the same horizontal line.

7. The finger rehabilitation training device according to claim 1, characterized in that: The connecting block 1 is also provided with a through slot 4 and a guide rail arranged at intervals from top to bottom under the through slot 1, the connecting block 2 is also provided with a through slot 4 and a guide rail arranged at intervals from top to bottom under the through slot 3, and the connecting block 3 is provided with a through slot 3, a through slot 4 and a guide rail arranged at intervals from top to bottom; both sides of the connecting block 1, the connecting block 2 and the connecting block 3 are provided with an integrally formed pin shaft; the connecting pieces are all U-shaped, and the middle part is provided with an integrally formed convex strip, and the inner walls on both sides are provided with a slide groove; the connecting block 1, the connecting block 2 or the connecting block The two pins on block three are embedded in the two slide grooves of the corresponding connecting parts, and form sliding pairs with the two slide grooves respectively, and the guide rails of connecting block one, connecting block two or connecting block three and the convex strips of the corresponding connecting parts form sliding pairs; the end of leaf spring one away from sliding rod one is fixed to through groove three of connecting block three, the two ends of leaf spring two between connecting block one and connecting block two are fixed to through groove four of connecting block one and connecting block two respectively, and the two ends of leaf spring two between connecting block two and connecting block three are fixed to through groove four of connecting block two and connecting block three respectively.

8. The finger rehabilitation training device according to claim 1, characterized in that: The sleeve ring is made of elastic material.

9. A method for using a finger rehabilitation training device according to any one of claims 1 to 8, characterized in that: Put the ring on the support plate on the palm, with the support plate located on the back of the hand, and put the rings on each connecting piece on the proximal phalanx, middle phalanx and distal phalanx of the finger in sequence; when working, the piston rod of the electric cylinder reciprocates to extend and shorten, so that the finger reciprocates to bend and straighten; When the piston rod of the electric cylinder is extended, the piston rod of the electric cylinder pushes the connecting rod to rotate in the direction close to the connecting block 1, and the connecting rod pushes the connecting block 1 through the connecting rod 1, and the connecting block 1 drives the proximal phalanx to rotate in the direction close to the palm through the corresponding sleeve ring, and at the same time, the angle between the connecting rod 1 and the connecting block 1 is reduced, so that the sliding rod 1 slides along the sliding groove 1 in the direction away from the connecting rod, and the leaf spring 1 generates elastic force under the thrust of the sliding rod 1, and also causes the two leaf springs 2 to generate elastic force under the bending load, and the leaf spring 2 between the connecting block 1 and the connecting block 2 drives the middle phalanx to rotate in the direction close to the palm through the connecting block 2 and the corresponding sleeve ring, and the leaf spring 2 between the connecting block 2 and the connecting block 3 drives the distal phalanx to rotate in the direction close to the palm through the connecting block 3 and the corresponding sleeve ring, so that the finger changes from a straight state to a bent state; When the piston rod of the electric cylinder is shortened, the piston rod of the electric cylinder pulls the connecting rod to rotate in the direction away from the connecting block 1, the connecting rod pulls the connecting block 1 through the connecting rod 1, the connecting block 1 drives the proximal phalanx to rotate in the direction away from the palm through the corresponding collar, and at the same time, the angle between the connecting rod 1 and the connecting block 1 increases, so that the sliding rod 1 slides along the sliding groove 1 in the direction close to the connecting rod, the sliding rod 1 pulls the leaf spring 1, so that the leaf spring 1 and the two leaf springs 2 return to their original state, and the leaf spring 2 between the connecting block 1 and the connecting block 2 drives the middle phalanx to rotate in the direction away from the palm through the connecting block 2 and the corresponding collar, and the leaf spring 2 between the connecting block 2 and the connecting block 3 drives the distal phalanx to rotate in the direction away from the palm through the connecting block 3 and the corresponding collar, so that the finger changes from a bent state to an extended state; During the bending and straightening of the finger, when the collar generates shear force on the finger surface, the proximal phalanx, the middle phalanx and the distal phalanx drive the corresponding connecting parts and the connecting block 1, the connecting block 2 and the connecting block 3 to slide relative to each other through the corresponding collar.

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