A soft-cable traction hand rehabilitation robot

Abstract

The present invention discloses a flexible cable traction type hand rehabilitation robot, which relates to the technical field of hand rehabilitation robots, and comprises an arm plate and a palm plate, wherein the outer surface of the arm plate is provided with an auxiliary frame, and a servo motor is installed inside the auxiliary frame, and a connecting shaft is provided at the output end of the servo motor. The flexible cable traction type hand rehabilitation robot can rotate the threaded rod by controlling the connecting handle, and synchronously drive the two groups of mounting plates and the connecting plate to approach and move away, so as to facilitate the fixing of the palm plate placed between the two groups of mounting plates, the palm plate is connected to the first finger plate, and the first finger plate, the second finger plate and the third finger plate together form a hand finger rehabilitation part, and when a fault occurs in one of the groups of the first finger plate, the second finger plate and the third finger plate together form a hand finger rehabilitation part, the first finger plate, the second finger plate and the third finger plate together form a hand finger rehabilitation part, and can be conveniently disassembled and replaced by controlling the approach and distance between the two groups of mounting plates.

Description

Technical Field

[0001] The invention relates to the technical field of hand rehabilitation robots, and in particular to a soft-cable traction type hand rehabilitation robot. Background Art

[0002] As an important branch of medical robots, the research on rehabilitation robots covers many fields such as rehabilitation medicine, biomechanics, mechanics, mechanical mechanics, electronics, materials science, computer science and robotics. It has become a research hotspot in the international robotics field. For example, for patients with hand injuries, hand rehabilitation robots are needed to assist hand movements, which helps the recovery of the affected part of the hand.

[0003] Currently, hand rehabilitation robots are generally of integrated design, which means that when one finger fails to be rehabilitated, the other four fingers are difficult to use and the maintenance cost increases.

[0004] Therefore, in view of this, the existing structure and defects are studied and improved, and a soft-cable traction hand rehabilitation robot is proposed. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a flexible cable traction type hand rehabilitation robot, which solves the problems raised in the above background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a flexible cable traction hand rehabilitation robot, comprising an arm plate and a palm plate, an auxiliary frame is provided on the outer surface of the arm plate, and a servo motor is installed inside the auxiliary frame, a connecting shaft is provided at the output end of the servo motor, and a bearing is installed at the end of the connecting shaft, two groups of bearings are provided, and a reel is installed between the two groups of bearings, an auxiliary installation installation component is provided inside the arm plate, and the installation component comprises a mounting plate, a connecting plate, a connecting handle and a threaded rod, a connecting plate is provided on the outer surface of one side of the mounting plate, and a threaded rod is installed on the internal thread of the connecting plate, and a connecting handle is fixedly provided on the end of the threaded rod, the palm plate is provided on one side of the inside of the arm plate, and a first finger plate is installed at one end of the palm plate through a rotating shaft, and a second finger plate is provided at one end of the first finger plate through a rotating shaft, a third finger plate is rotatably installed at one end of the second finger plate through a rotating shaft, and a baffle is provided on the outer surface of one side of the arm plate.

[0007] Furthermore, a linkage component for assisting hand rehabilitation movement is provided on the outside of the reel, and a connecting rope, a connecting spring, a connecting column and an end block are provided. A connecting column is provided at the end of the connecting rope, and a connecting spring is installed on the outer surface of the connecting column. An end block is provided at the end of the connecting column.

[0008] Furthermore, a hinge connecting rod is provided at the end of the end block, and five groups of the hinge connecting rods are installed.

[0009] Furthermore, a restraining belt is provided on one side of the bottom of the palm plate, and the other end of the palm plate is installed between the two groups of mounting plates.

[0010] Furthermore, a support plate is provided at the bottom of the bearing, and an auxiliary frame is fixedly installed at the bottom of the support plate by screws.

[0011] Furthermore, an air pump is arranged inside the auxiliary frame, and an air pipe is installed at the output end of the air pump.

[0012] Furthermore, a three-way pipe is threadedly provided at the end of the air pipe, and a solenoid valve is installed outside the three-way pipe.

[0013] Furthermore, a cleaning brush is provided in an annular shape on the outer surface of the reel, and a dustproof screen is installed on one side of the cleaning brush.

[0014] Furthermore, the dustproof mesh plate is snap-fitted to one side of the interior of the auxiliary frame, and air holes are provided inside the first finger plate, the second finger plate and the third finger plate.

[0015] Furthermore, finger sleeves are provided on the bottom outer surfaces of the first finger plate, the second finger plate and the third finger plate, and airbags 1 are installed on both sides of the inside of the finger sleeves, airbags 2 are provided between the two groups of airbags 1, and airbags 1 and 2 are connected to each other.

[0016] The present invention provides a soft-cable traction hand rehabilitation robot, which has the following beneficial effects:

[0017] 1. The flexible cable traction hand rehabilitation robot can rotate the threaded rod by controlling the connecting handle to synchronously drive the two groups of mounting plates and the connecting plate to move closer and farther away, so as to facilitate the fixation of the palm plate placed between the two groups of mounting plates. The palm plate is connected to the first finger plate, and the first finger plate, the second finger plate and the third finger plate together constitute a hand finger rehabilitation part. When one of the groups of the first finger plate, the second finger plate and the third finger plate together constitute a hand finger rehabilitation part fails, the first finger plate, the second finger plate and the third finger plate together constitute a hand finger rehabilitation part to be conveniently disassembled and replaced by controlling the approach and distance between the two groups of mounting plates, thereby avoiding the problem that the entire hand rehabilitation robot cannot be continuously used when one of the finger rehabilitation parts is damaged due to the integrated design.

[0018] 2. The soft-cable traction hand rehabilitation robot can adjust the bending angles of the first finger plate, the second finger plate and the third finger plate by moving the position of the connecting column and cooperating with the hinge connecting rod, so as to facilitate traction-type exercise of the fingers after wearing. In addition, through the design of the connecting spring outside the connecting column, when the connecting rope is reset and reeled, the elastic force of the connecting spring can be stretched, thereby cooperating with the design of the hinge connecting rod to make the first finger plate, the second finger plate and the third finger plate return to their original state, so as to facilitate the reeling of the connecting rope again to drive the first finger plate, the second finger plate and the third finger plate to adjust the bending angle, thereby assisting hand rehabilitation.

[0019] 3. The soft-cable traction hand rehabilitation robot can flexibly adjust the expansion of airbags 1 and 2 in the three sets of finger sleeves by charging and discharging air through the air pump, which is beneficial to massaging the fingers through the expansion and contraction of airbags 1 and 2. Combined with the bending of the first finger plate, the second finger plate and the third finger plate, it can further improve the rehabilitation effect on the hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of a flexible cable traction type hand rehabilitation robot of the present invention;

[0021] Figure 2 This is a schematic structural diagram of a flexible cable traction hand rehabilitation robot from another perspective of the present invention;

[0022] Figure 3 It is a schematic diagram of the unfolded structure of the arm plate and the auxiliary frame of a flexible cable traction hand rehabilitation robot of the present invention;

[0023] Figure 4 It is a bottom view structural schematic diagram of a first fingerboard, a second fingerboard and then a third fingerboard of a flexible cable traction hand rehabilitation robot of the present invention;

[0024] Figure 5 It is a schematic diagram of a top view of the structure of a finger sleeve of a soft-cable traction hand rehabilitation robot according to the present invention;

[0025] Figure 6 The present invention is a schematic diagram of the structure of the installation components of a flexible cable traction type hand rehabilitation robot.

[0026] In the figure: 1. arm plate; 2. auxiliary frame; 3. linkage assembly; 301. connecting rope; 302. connecting spring; 303. connecting column; 304. end block; 4. three-way pipe; 5. solenoid valve; 6. palm plate; 7. restraint belt; 8. first finger plate; 9. second finger plate; 10. air hole; 11. third finger plate; 12. hinge connecting rod; 13. dustproof mesh plate; 14. servo motor; 15. reel; 16. support plate; 17. connecting shaft; 18. bearing; 19. cleaning brush; 20. baffle; 21. air pipe; 22. air pump; 23. finger sleeve; 24. air bag one; 25. air bag two; 26. installation assembly; 2601. installation plate; 2602. connecting plate; 2603. connecting handle; 2604. threaded rod. DETAILED DESCRIPTION

[0027] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0028] like Figure 1-Figure 6As shown, the present invention provides a technical solution: a soft cable traction hand rehabilitation robot, including an arm plate 1, an auxiliary frame 2, a linkage component 3, a connecting rope 301, a connecting spring 302, a connecting column 303, an end block 304, a three-way pipe 4, a solenoid valve 5, a palm plate 6, a restraint belt 7, a first finger plate 8, a second finger plate 9, an air hole 10, a third finger plate 11, a hinge connecting rod 12, a dustproof mesh plate 13, a servo motor 14, a reel 15, a support plate 16, a connecting shaft 17, a bearing 18, a cleaning brush 19, a baffle 20, an air pipe 21, an air pump 22, a finger sleeve 23, an air bag 1 24, an air bag 25, a mounting component 26, a mounting plate 2601, a connecting plate 2602, a connecting handle 2603 and a threaded rod 2604, an arm plate 1 is provided with an auxiliary frame 2 on its outer surface, and a servo motor 14 is installed inside the auxiliary frame 2, a connecting shaft 17 is provided at the output end of the servo motor 14, and a bearing 18 is installed at the end of the connecting shaft 17, two groups of bearings 18 are provided, and a reel 15 is installed between the two groups of bearings 18, a cleaning brush 19 is provided in an annular shape on the outer surface of the reel 15, and a dustproof screen 13 is installed on one side of the cleaning brush 19, and the dustproof screen 13 is clamped and arranged on one side of the auxiliary frame 2, and air holes 10 are provided inside the first finger plate 8, the second finger plate 9 and the third finger plate 11, and the reel 15 can be driven to rotate by the design of the servo motor 14 and the connecting shaft 17, and the cleaning brush 19 can be driven to rotate synchronously by the rotation of the reel 15, and the cleaning brush 19 can be driven to rotate synchronously by the cleaning brush The rotation of 19 can intermittently rub the dustproof mesh plate 13, which is beneficial for auxiliary cleaning of the dustproof mesh plate 13. An auxiliary installation mounting assembly 26 is arranged inside the arm plate 1, and the mounting assembly 26 includes a mounting plate 2601, a connecting plate 2602, a connecting handle 2603 and a threaded rod 2604. A connecting plate 2602 is arranged on the outer surface of one side of the mounting plate 2601, and a threaded rod 2604 is installed on the internal thread of the connecting plate 2602, and a connecting handle 2603 is fixedly arranged on the end of the threaded rod 2604. The palm plate 6 is arranged on one side of the inside of the arm plate 1, and a first finger plate 8 is installed on one end of the palm plate 6 through a rotating shaft, and a second finger plate 9 is arranged on one end of the first finger plate 8 through a rotating shaft, and one end of the second finger plate 9 The third finger plate 11 is installed by rotating the shaft, a baffle 20 is provided on the outer surface of one side of the arm plate 1, the connecting plate 2602 is threadedly connected with the threaded rod 2604, and the thread directions of the two groups of connecting plates 2602 are opposite, so that the threaded rod 2604 can be rotated by controlling the connecting handle 2603, and the two groups of mounting plates 2601 and the connecting plate 2602 are synchronously driven to move closer and farther, so as to fix the palm plate 6 placed between the two groups of mounting plates 2601, the palm plate 6 is connected to the first finger plate 8, and the first finger plate 8, the second finger plate 9 and the third finger plate 11 together form a hand finger rehabilitation component, which can be used when one of the groups of the first finger plate 8, the second finger plate 9 and the third finger plate 11 together form a hand finger rehabilitation component fails.By controlling the proximity and distance between the two sets of mounting plates 2601, the first finger plate 8, the second finger plate 9 and the third finger plate 11 together form a hand finger rehabilitation component, which can be conveniently disassembled and replaced, eliminating the problem that the entire hand rehabilitation robot cannot be continuously used when one of the finger rehabilitation components is damaged due to the integrated design.

[0029] like Figure 1 and Figure 2 As shown, the outside of the reel 15 is provided with a linkage component 3 for assisting hand rehabilitation movement, and a connecting rope 301, a connecting spring 302, a connecting column 303 and an end block 304. The end of the connecting rope 301 is provided with a connecting column 303, and the outer surface of the connecting column 303 is installed with a connecting spring 302, the end of the connecting column 303 is provided with an end block 304, and the end of the end block 304 is provided with a hinge connecting rod 12, and the hinge connecting rod 12 is installed with five groups. A restraint belt 7 is provided on one side of the bottom of the palm plate 6, and the other end of the palm plate 6 is installed between two groups of mounting plates 2601. The restraint belt 7 facilitates the whole hand rehabilitation robot to be restrained to the palm part. The design of the servo motor 14 and the connecting shaft 17 can drive the reel 15 to rotate, and the reel 15 can control the connecting rope 301 when it rotates. By winding up on the outer surface of the reel 15, the connecting rope 301 can be retracted and released to synchronously drive the connecting column 303 to move its position. By the movement of the connecting column 303 and the cooperation of the hinge connecting rod 12, the bending angles of the first finger plate 8, the second finger plate 9 and the third finger plate 11 can be adjusted accordingly, which is convenient for traction-type exercise of the fingers after wearing. In addition, through the design of the external connecting spring 302 of the connecting column 303, when the connecting rope 301 is reset and wound up, the connecting spring 302 elastically stretches, thereby cooperating with the design of the hinge connecting rod 12 to make the first finger plate 8, the second finger plate 9 and the third finger plate 11 return to their original state, which is convenient for controlling the winding of the connecting rope 301 again to drive the first finger plate 8, the second finger plate 9 and the third finger plate 11 to adjust their bending angles, thereby assisting hand rehabilitation.

[0030] like Figure 1 , Figure 3 , Figure 4 and Figure 5As shown, a support plate 16 is provided at the bottom of the bearing 18, and an auxiliary frame 2 is fixedly installed at the bottom of the support plate 16 by screws, an air pump 22 is provided inside the auxiliary frame 2, and an air pipe 21 is installed at the output end of the air pump 22, a three-way pipe 4 is threadedly provided at the end of the air pipe 21, and an electromagnetic valve 5 is installed on the outside of the three-way pipe 4, a finger sleeve 23 is provided on the bottom outer surface of the first finger plate 8, the second finger plate 9 and the third finger plate 11, and air bags 1 24 are installed on both sides of the inside of the finger sleeve 23, an air bag 25 is provided between the two groups of air bags 1 24, and the air bags 1 24 and the air bags 2 25 are connected to each other, and the end of the three-way pipe 4 can be threadedly installed with a connecting pipe according to the required use, and the end of the connecting pipe is threadedly fixed with the air hole 10, so that it can be in the user's hand. After the hand rehabilitation robot is worn, the user's finger is inserted into the finger sleeve 23, that is, the finger is located between the two groups of airbags 1 24. The design of the air pump 22 can inject a proper amount of gas into the airbags 1 24 and 25. Pressure sensors are provided inside the airbags 1 24 and 25. After detecting the pressure, the inflation of the three pipes in the three-way pipe 4 can be controlled through the solenoid valve 5, so that the expansion of the airbags 1 24 and 25 in the three groups of finger sleeves 23 can be flexibly adjusted through the inflation and deflation of the air pump 22, which is beneficial to massage the fingers through the expansion and contraction of the airbags 1 24 and 25. Combined with the bending of the fingers of the first finger plate 8, the second finger plate 9 and the third finger plate 11, the rehabilitation effect on the hand can be further improved.

[0031] In summary, if Figure 1-Figure 6As shown, when the soft-cable traction hand rehabilitation robot is in use, the end of the three-way pipe 4 can be threadedly installed with a connecting pipe according to the required use, and the end of the connecting pipe is threadedly fixed to the air hole 10, so that after the user's hand and the hand rehabilitation robot are worn, that is, the user's finger is inserted into the finger sleeve 23, that is, the finger is located between the two groups of air bags 1 24, and the design of the air pump 22 can flush a proper amount of gas into the air bags 1 24 and the air bags 2 25. Pressure sensors are provided inside the air bags 1 24 and the air bags 2 25, and the inflation of the three pipes in the three-way pipe 4 can be controlled by the solenoid valve 5 after the pressure is detected, so that the expansion of the air bags 1 24 and the air bags 2 25 in the three groups of finger sleeves 23 can be flexibly adjusted by the inflation and deflation of the air pump 22, which is beneficial to ventilation. The fingers are massaged by the expansion and contraction of the airbag 1 24 and the airbag 2 25, and then the whole hand rehabilitation robot is bound to the palm through the restraint belt 7. The design of the servo motor 14 and the connecting shaft 17 can drive the reel 15 to rotate. When the reel 15 rotates, the connecting rope 301 can be controlled to reel up on the outer surface of the reel 15. The retraction and release of the connecting rope 301 can synchronously drive the position of the connecting column 303 to move. Through the movement of the position of the connecting column 303 and the cooperation of the hinge connecting rod 12, the bending angles of the first finger plate 8, the second finger plate 9 and the third finger plate 11 can be adjusted accordingly, so as to facilitate traction-type exercise of the fingers after wearing. In addition, the design of the external connection spring 302 of the connecting column 303 can be used to adjust the bending angle of the first finger plate 8, the second finger plate 9 and the third finger plate 11. When resetting and rewinding, the connecting spring 302 stretches elastically, thereby cooperating with the design of the hinge connecting rod 12 to make the first finger plate 8, the second finger plate 9 and the third finger plate 11 tend to the original state, so that it is convenient to control the rewinding of the connecting rope 301 again to drive the first finger plate 8, the second finger plate 9 and the third finger plate 11 to adjust the bending angle to assist hand rehabilitation. Then the connecting plate 2602 is threadedly connected with the threaded rod 2604, and the thread directions of the two groups of connecting plates 2602 are opposite, so that the threaded rod 2604 can be rotated by controlling the connecting handle 2603, and the two groups of mounting plates 2601 and the connecting plate 2602 are synchronously driven to move closer and farther, so as to fix the palm plate 6 placed between the two groups of mounting plates 2601. The palm plate 6 is connected to the first finger plate 8, and the first finger plate 8, The second finger plate 9 and the third finger plate 11 together constitute a hand finger rehabilitation component. When one of the groups of the first finger plate 8, the second finger plate 9 and the third finger plate 11 together constitute a hand finger rehabilitation component fails, the first finger plate 8, the second finger plate 9 and the third finger plate 11 together constitute a hand finger rehabilitation component can be conveniently disassembled and replaced by controlling the approach and distance between the two groups of mounting plates 2601, thereby eliminating the problem that the entire hand rehabilitation robot cannot be used continuously when one of the finger rehabilitation components is damaged due to the integrated design. Secondly, the fingers are massaged by expanding and contracting the airbag 1 24 and the airbag 2 25, and the bending of the fingers of the first finger plate 8, the second finger plate 9 and the third finger plate 11 can further improve the hand rehabilitation effect.

[0032] The embodiments of the present invention are given for the purpose of illustration and description, and are not intended to be exhaustive or to limit the invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. A flexible cable traction hand rehabilitation robot, comprising an arm plate (1) and a palm plate (6), characterized in that: The outer surface of the arm plate (1) is provided with an auxiliary frame (2), and a servo motor (14) is installed inside the auxiliary frame (2). The output end of the servo motor (14) is provided with a connecting shaft (17), and the end of the connecting shaft (17) is installed with a bearing (18), and the bearing (18) is provided with two groups, and a reel (15) is installed between the two groups of bearings (18). An auxiliary installation mounting assembly (26) is provided inside the arm plate (1), and the mounting assembly (26) includes a mounting plate (2601), a connecting plate (2602), a connecting handle (2603) and a threaded rod (2604). A connecting plate (2602) is provided on the outer surface of one side of the mounting plate (2601), and a threaded rod (2604) is installed on the internal thread of the connecting plate (2602), and a connecting handle (2603) is fixedly provided at the end of the threaded rod (2604), the palm plate (6) is provided on one side of the inside of the arm plate (1), and a first finger plate (8) is installed on one end of the palm plate (6) through a rotating shaft, and a second finger plate (9) is installed on one end of the first finger plate (8) through a rotating shaft, and a third finger plate (11) is rotatably installed on one end of the second finger plate (9) through a rotating shaft, and a baffle (20) is provided on the outer surface of one side of the arm plate (1).

2. The flexible cable traction hand rehabilitation robot according to claim 1, characterized in that: The outside of the reel (15) is provided with a linkage assembly (3) for assisting hand rehabilitation movement, and a connecting rope (301), a connecting spring (302), a connecting column (303) and an end block (304); the end of the connecting rope (301) is provided with a connecting column (303), and the outer surface of the connecting column (303) is installed with a connecting spring (302); the end of the connecting column (303) is provided with an end block (304).

3. The flexible cable traction hand rehabilitation robot according to claim 2, characterized in that: The end of the end block (304) is provided with a hinge connecting rod (12), and five groups of the hinge connecting rods (12) are installed.

4. The flexible cable traction hand rehabilitation robot according to claim 1, characterized in that: A restraining belt (7) is provided on one side of the bottom of the palm plate (6), and the other end of the palm plate (6) is installed between the two groups of mounting plates (2601).

5. The flexible cable traction hand rehabilitation robot according to claim 1, characterized in that: A support plate (16) is provided at the bottom of the bearing (18), and an auxiliary frame (2) is fixedly mounted on the bottom of the support plate (16) by means of screws.

6. The flexible cable traction hand rehabilitation robot according to claim 1, characterized in that: An air pump (22) is arranged inside the auxiliary frame (2), and an air pipe (21) is installed at the output end of the air pump (22).

7. The flexible cable traction hand rehabilitation robot according to claim 6, characterized in that: The end of the air pipe (21) is threadedly provided with a three-way pipe (4), and a solenoid valve (5) is installed outside the three-way pipe (4).

8. The flexible cable traction hand rehabilitation robot according to claim 1, characterized in that: A cleaning brush (19) is provided in an annular shape on the outer surface of the reel (15), and a dustproof screen plate (13) is installed on one side of the cleaning brush (19).

9. The flexible cable traction hand rehabilitation robot according to claim 8, characterized in that: The dustproof mesh plate (13) is snap-fitted to one side of the interior of the auxiliary frame (2), and air holes (10) are provided inside the first finger plate (8), the second finger plate (9) and the third finger plate (11).

10. The flexible cable traction hand rehabilitation robot according to claim 9, characterized in that: The bottom outer surfaces of the first finger plate (8), the second finger plate (9) and the third finger plate (11) are provided with finger sleeves (23), and air bags (24) are installed on both sides of the inside of the finger sleeves (23), and air bags (25) are arranged between the two groups of air bags (24), and the air bags (24) and the air bags (25) are connected to each other.

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